How to extract position of object from tf using python

[soleman1214]

hello everyone,
I am facing a problem related to values extraction that are published in tf.

I want the position values(x,y,z) of the object using python. Then I want to use these values in moveit package for inverse kinematics of robot to do pick and place tasks. Please help me how to get these values.

[matlabbe]

You will need a TF listener, then use lookuptransform function to get the pose of the object in target frame you want. To know when the TF of an object is ready, subscribe to /objectsStamped topic to get the stamp when the object is detected (for the lookupTransform).

EDIT: Here a C++ example: https://github.com/introlab/find-object/blob/master/src/ros/tf_example_node.cpp, this could be in python.

[Masoumehrahimi]

hello everyone, I am facing a problem related to values extraction that are published in tf. I want the position values(x,y,z) of the object using python. Then I want to use these values in moveit package for inverse kinematics of robot to do pick and place tasks. Please help me how to get these values.

Hi Soleman,

Would you please also share your python code here? I have the same problem as well.
Kind Regards

[soleman1214]

https://youtu.be/_LumIR61234
I followed this video.

[Masoumehrahimi]

https://youtu.be/_LumIR61234 I followed this video.

thanks a lot for the quick reply, but this video does not show using a python code for providing object position.