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[tf_distance] inconsitent tf evaluation #123

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HannesBachter opened this issue Feb 6, 2020 · 1 comment
Open

[tf_distance] inconsitent tf evaluation #123

HannesBachter opened this issue Feb 6, 2020 · 1 comment
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@HannesBachter
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During tests in https://github.com/mojin-robotics/mojin_atf/pull/3 sometimes the distance was small (as expected), but sometimes larger than the epsilon. Investigating the bag-file, I realized that the atf/status topic was published shortly after the last movement - so maybe there is an issue with getting the latest tf transform
@HannesBachter
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bagfile is under smb://titan/public/Austausch/hyb/scenario_test.bag, the transformation of interest is between gripper_ee_link and box_frame (gripper is closed at 1580921044.67, approx. 205 s into the bagfile)

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@floweisshardt @HannesBachter