How can I get tf data from ros to v-rep?
Posted: 10 Apr 2018, 16:20
Hello everyone.
I'm working with kinect on ros and v-rep. And I'm using openni_tracker to get the position of my body and send it as a TF data on ROS.
And I'm writing this post because I need to know tp how receive tfdata from a ros node to v-rep using vrep_ros_interface. I created a listener to this tf broadcaster and publish a position data on ros, and this data I could subscribe using simExtRosInterface_subscribe function. But by doing this I'm getting problem with my elbow joint. When I rotate my elbow in order to change my hand position from -z to z (for example). The Z value of my elbow joint increase/decrease, when it's not supposed to. That's why I'm asking about how to subscribe the broadcaster on V-rep and manipulate this data using non-threaded script. Maybe this could fix my problem of elbow joint.
That's the function I'm using on my tf_listener node. Notice that I'm not facing any problems with my shoulder and hand joint, only my elbow joint is getting position problems
Thanks for everything
Luiz Arthur (Quartz)
I'm working with kinect on ros and v-rep. And I'm using openni_tracker to get the position of my body and send it as a TF data on ROS.
And I'm writing this post because I need to know tp how receive tfdata from a ros node to v-rep using vrep_ros_interface. I created a listener to this tf broadcaster and publish a position data on ros, and this data I could subscribe using simExtRosInterface_subscribe function. But by doing this I'm getting problem with my elbow joint. When I rotate my elbow in order to change my hand position from -z to z (for example). The Z value of my elbow joint increase/decrease, when it's not supposed to. That's why I'm asking about how to subscribe the broadcaster on V-rep and manipulate this data using non-threaded script. Maybe this could fix my problem of elbow joint.
That's the function I'm using on my tf_listener node. Notice that I'm not facing any problems with my shoulder and hand joint, only my elbow joint is getting position problems
Code: Select all
// left shoulder joint
left_shoulder_pose.x = transform_left_shoulder.getOrigin().x();
left_shoulder_pose.y = transform_left_shoulder.getOrigin().y();
left_shoulder_pose.z = transform_left_shoulder.getOrigin().z();
// left elbow joint
left_elbow_pose.x = transform_left_elbow.getOrigin().x();
left_elbow_pose.y = transform_left_elbow.getOrigin().y();
left_elbow_pose.z = transform_left_elbow.getOrigin().z();
// left hand joint
left_hand_pose.x = transform_left_hand.getOrigin().x();
left_hand_pose.y = transform_left_hand.getOrigin().y();
left_hand_pose.z = transform_left_hand.getOrigin().z();
Luiz Arthur (Quartz)