Contact positions wrt world frame

I am getting positions of contacts using gazebo bumper states. The positions are given in world frame coordinates, when it should be in link frame coordinates. I use ROS Indigo and Gazebo version that is suggested in the instructions by default (Gazebo 1.9).

Is it a bug and it is solved in a newer version of Gazebo?

Asked by nomad on 2015-03-20 07:19:34 UTC

Comments

Could you provide more information: Post your model description, are you using plugins and if so which ones?

Asked by nkoenig on 2015-03-20 13:44:14 UTC

Answers

Here is an answer from http://answers.ros.org/question/205396/gazebo-contacts-bumper/ "Put your contact into a geometry_msgs/PointStamped and set the frame_id to world, then use tf transformPoint to transform the point into the link frame."

One comment is that the /tf should be publishing data at sufficient rate. Use rostopic hz /tf to see the rate. Gazebo publishes link states at 1kHz by default. But using tf methods simplifies transformations.

Asked by nomad on 2015-03-23 09:10:28 UTC