I'm using ROS Motoman Driver to communicate with Yaskawa robot. I was able to get the robot position through /joint_states topic using both terminal and python. But, I cannot find how do I get the TCP position?
How to get TCP position with Motoman driver?
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arisigor -
June 15, 2023 at 5:57 PM -
Thread is Unresolved
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Lemster68
June 15, 2023 at 6:11 PM Approved the thread. -
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check this out
moto/examples at main · ra-mtp-ntnu/motoA Python library for controlling Yaskawa MOTOMAN robots. - moto/examples at main · ra-mtp-ntnu/motogithub.com -
I'm using ROS Motoman Driver to communicate with Yaskawa robot. I was able to get the robot position through /joint_states topic using both terminal and python. But, I cannot find how do I get the TCP position?
Looking at the driver documentation, If I understood correctly, by default it uses JointTrajectoryPoint type messages. But since ROS is open source, I believe with some tinkering would be possible to obtain the type of information You want, using tf2_ros (ROS2) node, for example.
By the way, is always good inform what version/distribution of ROS You are using, since there are always changes between them.
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