Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Gazebo Contacts Bumper

asked 2015-03-19 09:37:33 -0600

Nomad
53 ●5 ●9 ●9 http://www.isir.upmc.f...

How to get position of a contact with respect to to frame of the link that is in contact?

I am using Gazebo 1.9 and ROS Indigo. I am getting contact positions wrt world frame.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2015-03-21 08:10:49 -0600

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

Put your contact into a geometry_msgs/PointStamped and set the frame_id to world, then use tf transformPoint to transform the point into the link frame.

edit flag offensive delete link

Comments

Thank you! 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.

Nomad ( 2015-03-23 09:03:44 -0600 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2015-03-19 09:37:33 -0600

Seen: 754 times

Last updated: Mar 21 '15

Gazebo Contacts Bumper edit

1 Answer

Comments

Question Tools

Stats

Related questions

Gazebo Contacts Bumper