Hey,
I'm trying to implement some reverse kinematics on a custom arm, in
order to move the arm using a 3D mouse.
I want to compose 2 transforms: my 3D mouse is publishing tf transforms,
and I have the tf published by the robot_state_publisher for my arm. I
just want to get the resulting transform: move from the current position
to the current position to the new position (current position +
transform from the mouse).
I was using this but I think it doesn't do what I want.
tf_listener.lookupTransform("/threedmouse",
"/sr_arm/position/shadowarm_handsupport", ros::Time(0), transform);
Sorry if it's a trivial question :S
Cheers,
Ugo
--
Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
Software Engineer | 251 Liverpool Road |
need a Hand? | London N1 1LX | +44 20 7700 2487
http://www.shadowrobot.com/hand/ @shadowrobot