How can I get current robot pose?

ROS
1

Hi,

With the ROS driver, how can I get the current robot pose (Cartesian and polar coordinates) without using MoveIt (only Universal_Robots_ROS_Driver)?

Best regards,

Philippe

2

You probably want to get yourself familiar with ROS built-in tf system.

In particular, you can run

rosrun tf tf_echo [reference_frame] tool0_controller

to get the tool’s pose in the coordinate system of [reference frame] where [reference_frame] could be e.g. base to get the tool’s pose in the robot’s base coordinate system.

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