Contains a single ros node, manipulation_transforms_server. The node keeps track of a transform between a pair of "effector poses" and a corresponding rigidly held "object pose".

Advertised services

All services are in the node's private namespace.


  • Ask the node to reload the current effector and object poses from the parameter server.


  • Given the effector poses, return the corresponding object pose


  • Given the object pose, return the current effector poses



  • Vector representing object/effector position; specified as [x, y, z]


  • Vector representing object/effector orientation; specified as [x, y, z, w]

Wiki: manipulation_transforms (last edited 2010-10-25 15:36:42 by BhaskaraMarthi)