def get_left_gripper_pose(self, frame = "/base_link"):
"""Returns a PoseStamped with the position/orientation of the
left gripper.
Parameters:
frame: the frame to use for the returned PoseStamped.
"""
link_name = "l_wrist_roll_link"
return utils.convert_to_posestamped(self.tf_listener,
(0,0,0),
(0,0,0),
link_name,
frame,
)
def get_left_gripper_pose(self, frame="/base_link"):
"""Returns a PoseStamped with the position/orientation of the
left gripper.
Parameters:
frame: the frame to use for the returned PoseStamped.
"""
link_name = "l_wrist_roll_link"
return utils.convert_to_posestamped(
self.tf_listener,
(0, 0, 0),
(0, 0, 0),
link_name,
frame,
)
def current_pose_stamped(self, frame="/odom_combined"):
return utils.convert_to_posestamped(self.listener, (0, 0, 0),
(0, 0, 0), "/base_link", frame)
def current_pose_stamped(self, frame="/odom_combined"):
return utils.convert_to_posestamped(self.listener,
(0,0,0),
(0,0,0),
"/base_link",
frame)
