How to derive transforms between links via Entity Component Manager in gzsim fortress/garden?

asked 2023-03-21 04:49:44 -0500

Illuminatur gravatar image

Dear community,

i am working on a plugin, which shall derive the transform between two consecutive links (connected via non-fixed joint) in a robot to publish them as a tf2::Transform. Is there a a possibility to derive the relative translation and orientation between two given links (via names e.g.) using the Entity Component Manager?

Regards, Illuminatur

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You should be able to use the PosePublisher or the JointStatePublisher for this. Is there a reason for writing your own plugin?

azeey gravatar imageazeey ( 2023-03-21 10:55:57 -0500 )edit