Getting Baxter joints over ROS

[atoz]

Hi,

I'm trying to use the V-rep IK for Baxter to control a real Baxter robot. I'm trying to use the

Code: Select all

/vrep/simRosGetObjectGroupData

service to get the robot joint handles into my python script. To my understanding, this should be returning all the joint handles in the scene. However, it only returns 1 joint; I think the 1st joint the method encountered. My code looks like this:

Code: Select all

jntSvc = rospy.ServiceProxy('/vrep/simRosGetObjectGroupData',simRosGetObjectGroupData)
resp = jntSvc.call(vrepConst.sim_object_joint_type,0)
assert isinstance(resp, simRosGetObjectGroupDataResponse)
print resp

Any ideas why this would be? Is there a better way to get all the joint handles?

[coppelia]

Hello,

hum, that should work. We will look into this. In the mean time, you can always use simRosCallScriptFunction, which allows you to basically do whatever you want inside of that script function. That function is available since V-REP 3.3.0

Cheers