This is a ROS 2 package that gets the end effector position from a tf msg.

• Ubuntu OS PC
  • Ubuntu 22.04 Humble

1. Set target frames to use.

Set the target frame from tf_to_pos_component.cpp.

  // Set target frames to subscribe, line 34.
  target_frames_ = {
    "lf_foot_link", "lh_foot_link", "rf_foot_link", "rh_foot_link"
  };

2. To run the example.

colcon build --packages-select tf_to_pos
. install/setup.bash
ros2 run tf_to_pos tf_to_pos

colcon build --packages-select tf_to_pos
. install/setup.bash
ros2 run tf_to_pos pos_sub

This repository is licensed under the MIT license, see LICENSE.