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
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// 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)