Extract position and pose values

[ayertay]

Hello all,

I'm sorry that I'm asking an unrelated question, but how can I extract real-time position and quaternion values from rviz? I found something called 'rosbag', but it seems that it stores the values. Instead, is it possible to send the real time value to other place? Like send to terminal so I can read or use in other application? I'm using Baxter robot, and want to acquire position and pose of the object so that baxter can go and grab it. Baxter is being simulated through Gazebo. I saw couple videos of simtrack being used with robotic arms as well.

Thanks in advance!

[JimmyDaSilva]

@ayertay Well I can't remember if there is a topic publishing the poses. But you can definitely read the tf_tree. See the ros tutorials :
http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20listener%20%28C%2B%2B%29

[YantianZha]

@ayertay Have you verified that simtrack also works in Gazebo environment? Thanks!