using JointState.position in transformations

Question

Hi all, Can I directly use the joinstate.position[i] for rotation or should there be some processing when rotating successive joints other than the first one? This is with reference to forward kinematics on ROS indigo.

Thanks.

http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html

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Originally posted by imaminion on ROS Answers with karma: 16 on 2017-10-12

Post score: 0

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Original comments

Comment by gvdhoorn on 2017-10-13:
I'm not sure I completely understand what you are asking. Can you clarify what you mean with "some processing when rotating successive joints other than the first one"?

Answer 1

Got an answer. My questions was if position[i] represented the angle of rotation or the difference in angle with respect to the previous rotation position[i - 1]. The answer is, position[i] refers to the actual rotation angle. Thank you.

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Originally posted by imaminion with karma: 16 on 2017-10-14

This answer was ACCEPTED on the original site

Post score: 0