Adapt subframes tutorial#476
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felixvd
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felixvd
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I couldn't test this today either, but if it runs it looks good to me mostly.
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| void createArrowMarker(visualization_msgs::Marker& marker, const geometry_msgs::Pose& pose, const Eigen::Vector3d& dir, |
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Isn't there something in rviz_visual_tools for this?
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I was hoping for this as well. But, unfortunately, rviz_visual_tools can only handle a single reference frame_id for markers.
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It could be added to rvt if you would like
| orientation.setRPY(0, (-20.0 / 180.0 * M_PI), 0); | ||
| fixed_pose.pose.orientation = tf2::toMsg(orientation); | ||
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| // BEGIN_SUB_TUTORIAL quaternions1 |
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I like how clean the file is now, and there must be a better place for this quaternion stuff, but I'm sure that a refresher on how to handle rotations with TF will really help some newbies out here. Do you have any good materials to link? Worst case, a comment like this may help: "Note that you can split up your rotations into intermediate steps and multiply tf2 quaternions<http://docs.ros.org/api/tf2/html/classtf2_1_1Quaternion.html>_ to create your desired orientation more easily."
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I am using http://wiki.ros.org/agni_tf_tools to interactively setup my rotations.
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In my opinion that's definitely worth linking. It's not easy for newcomers to find these kinds of tools.
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moveit/moveit#1757 fixes
getFrameTransform()to return global transforms for subframes as well (before, it returned local frames w.r.t. the attach link).However, this requires some adaptions to the target poses in the subframes tutorial.
I also added visualization of some target and eef frames.
Obviously, depends on moveit/moveit#1757