currently running ubuntu 16.04, ros kinetic, using gazebo 7 simulation with a sawyer (intera 5.2), running kinect camera.
I want to take a point from a point cloud (type `PointCloud2`) taken from the kinect frame. point would be of type `PointXYZRGBNormal`.
I want to take the point, use a transformation to get the point in the world frame, then input that into a script i wrote that performs inverse kinematics to determine a pose for sawyer.
My script takes a point input in the form of a position (xyz) and a quaternion (xyzw). I also want to be able to subscribe to the pointcloud rostopic and index through the points to select a single point and its relevant data.
can anyone suggest how to take the `PointXYZRGBNormal` and convert the information to a position and quaternion in the world frame?
Please let me know if more information is required.
Any help/suggestions would be much appreciated.
~ Luke
↧