Definition of target pose

[roboticswithjulia]

Hello,
Regarding the following code: how could you know which is the target pose? Do you create a specific frame for this target pose?

set target pose

    _try:
        tf_listener.waitForTransform('/desired_camera_frame', '/tag_0', rospy.Time(), rospy.Duration(4.0))
        (t_target, R_target) = tf_listener.lookupTransform('/desired_camera_frame', '/tag_0', rospy.Time(0))
    except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
        print 'Error! Cannot find [tag_0] to [desired_camera_frame] tf.'
        sys.exit(0)_

Regards and thanks,

Júlia

[willshw]

Yes, the target pose will be a frame that has a fixed transform to the tag.