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Kinovarobotics / kinova-ros

ROS packages for Jaco2 and Mico robotic arms
BSD 3-Clause "New" or "Revised" License
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Tool position in gazebo #420

Closed rsaif22 closed 1 year ago

rsaif22 commented 1 year ago

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

Is this the correct approach to getting the tool position in Gazebo?

Thank you

rsaif22 commented 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?

xmaww commented 8 months ago

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!