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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 11 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!