Closed rsaif22 closed 1 year ago
Following up on this, do the Gazebo joint angles accurately mirror the real life joint angles? If not, is there an offset that can be applied?
Hey @rsaif22 ! May I ask if your problem has been solved? I faced the same question that I want to obtain both the tool_pose information and cartesian_client_control API in gazebo simulation, which can be easily accessible with real Kinova jaco robots. Thank you so much if you can reply!
Hello, I was trying to get the end effector trajectory from both the robot and the gazebo simulation. For the robot, this is published on the topic: /j2n6s300_driver/out/tool_pose. For the Gazebo simulation, however, this topic does not exist. In trying to get the position, I am using the tf transform from /root to /j2n6s300_end_effector, then taking the x and y positions from there.
The trajectories do not match, as seen in the image:![image](https://github.com/Kinovarobotics/kinova-ros/assets/73025878/06bd4673-3ee0-4ef3-96a5-9ba43e88b9ec)
Is this the correct approach to getting the tool position in Gazebo?
Thank you