07_forward_kinematics_ros_loader.py

from compas_fab.backends import RosClient
from compas_fab.robots import Configuration

with RosClient('localhost') as client:
    robot = client.load_robot()

    configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])

    frame_WCF = robot.forward_kinematics(configuration)

    print("Frame in the world coordinate system")
    print(frame_WCF)