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RoboJackets / urc-software

Primary codebase for the RoboNav team's URC rover.
https://robojackets.org/teams/robonav/
MIT License
9 stars 2 forks source link

Publish accurate TF2 tree given robot URDF and joint states #115

Closed davidcalderon03 closed 1 year ago

davidcalderon03 commented 1 year ago

Publish a TF2 tree representing the robot.

yambati03 commented 1 year ago

Given a URDF (kinematic model) of the rover and individual joint states, publish the state of the robot as a tf2 tree. Fixed joints should be published to /tf_static while movable joints should be published to /tf.

davidcalderon03 commented 1 year ago

https://docs.google.com/document/d/1l4soy3HcidGzXlbi9dNkTEFQfrupR4e5rRct_Jf7jx8/edit