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Contact positions wrt world frame

asked 2015-03-20 07:19:34 -0500

nomad gravatar image

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?

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

nkoenig gravatar imagenkoenig ( 2015-03-20 13:44:14 -0500 )edit

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answered 2015-03-23 09:10:28 -0500

nomad gravatar image

Here is an answer from "Put your contact into a geometrymsgs/PointStamped and set the frameid 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.

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Asked: 2015-03-20 07:19:34 -0500

Seen: 1,546 times

Last updated: Mar 23 '15