Michael,
Hi,
As far as I know, PR2's tf tree is designed for transforms efficiency and not meant to represent the PR2 kinematics structures. Also, tf is exactly the same whether you're running in simulation or on the robot.
There are various ways to see the PR2 kinematics tree structure, for example you can use tools in urdf package:
rosmake urdf
rosrun xacro xacro.py `rospack find pr2_description`/robots/pr2.urdf.xacro > /tmp/pr2.urdf
rosrun urdf urdf_to_graphviz /tmp/pr2.urdf
evince pr2.pdf
Regards,
JohnOn Fri, May 14, 2010 at 4:39 PM, Wim Meeussen <meeussen@willowgarage.com> wrote:
> Wim, I'm not sure I understand this rationale. Somewhere someone isThe shallow tree is only computed once, and then published over tf. So
> chaining all the transforms and computing the shallow tree.
every tf listener can efficiently compute transformations between
links. If we publish the more natural tree, then every single tf
listener would have to do extra computations to chain links together.
I'm not sure I understand what you mean. Tf doesn't allow us to
> Why not just
> publish a more "natural" tree, along with the pre-computed transforms that
> go into the shallow tree?
publish the same tree twice.
Wim
--
--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)
_______________________________________________
_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users