Contents
Contains a single ros node, manipulation_transforms_server. The node keeps track of a transform between a pair of "effector poses" and a corresponding rigidly held "object pose".
Advertised services
All services are in the node's private namespace.
LoadInitialTransforms
- Ask the node to reload the current effector and object poses from the parameter server.
MapEffectorPosesToObject
- Given the effector poses, return the corresponding object pose
MapObjectPoseToEffectors
- Given the object pose, return the current effector poses
Parameters
{obj,effector0,effector1}_init_pose/position
- Vector representing object/effector position; specified as [x, y, z]
{obj,effector0,effector1}_init_pose/orientation
- Vector representing object/effector orientation; specified as [x, y, z, w]