end effector pose topic

[ghanim mukhtar]

Hi There,

Is there a topic that holds the end effector (left and right) pose in the PR2 robot? For example in the BAXTER robot you will find those two topics that publishes this info ( /robot/limb/left/endpoint_state, /robot/limb/right/endpoint_state) in form of geometric_msgs::Pose.

Cheers!
Ghanim

[Sam Pfeiffer]

Probably not, but you can easily do it yourself.

I had something similar laying around, I recomposed it in a more usable way:

https://gist.github.com/awesomebytes/a3b336635e0def9b2ba9cb7e93811d8f

Just do:

./frame_as_posestamped.py frame_to_posestamped reference_frame [rate]

Good luck!

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Sammy Pfeiffer

PhD Candidate at The Magic Lab within UTS.

[ghanim mukhtar]

Thanx a lot, will try it and feed you back asap.

On Wednesday, July 5, 2017 at 12:10:56 PM UTC+2, Sam Pfeiffer wrote:

Probably not, but you can easily do it yourself.

I had something similar laying around, I recomposed it in a more usable way:

https://gist.github.com/awesomebytes/a3b336635e0def9b2ba9cb7e93811d8f

Just do:

./frame_as_posestamped.py frame_to_posestamped reference_frame [rate]

Good luck!

On Wed, Jul 5, 2017 at 5:26 PM, ghanim mukhtar <ghanim...@gmail.com> wrote:

Hi There,

Is there a topic that holds the end effector (left and right) pose in the PR2 robot? For example in the BAXTER robot you will find those two topics that publishes this info ( /robot/limb/left/endpoint_state, /robot/limb/right/endpoint_state) in form of geometric_msgs::Pose.

Cheers!
Ghanim

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