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?
Here is an answer from http://answers.ros.org/question/20539... "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.
Asked: 2015-03-20 07:19:34 -0500
Seen: 1,568 times
Last updated: Mar 23 '15
Copyright Askbot, 2010-2011. Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
Could you provide more information: Post your model description, are you using plugins and if so which ones?