Transformations
Frame hopping.
Last updated
Frame hopping.
Last updated
Use minkindr to represent transformations.
Further details on the transformation notation, frame names and conventions can be found on the wiki page.
Here,
old: contains the name of tf that needs to be remapped
new: new name of tf
The topic subscribed to is:
/tf_old (tf/tfMessage) -- Old transform tree. This is usually published by remapping playback of a bag file. You may need to set use_sim_time as true for the bag file transforms to be accepted.
The topic published is:
/tf (tf/tfMessage) -- Current transform tree. This is the normal /tf topic.
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms
Publish a static coordinate transform to tf using an x/y/z offset in meters and yaw/pitch/roll in radians. (yaw is rotation about Z, pitch is rotation about Y, and roll is rotation about X). The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.
static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period_in_ms
Publish a static coordinate transform to tf using an x/y/z offset in meters and quaternion. The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.
static_transform_publisher is designed both as a command-line tool for manual use, as well as for use within roslaunch files for setting static transforms. For example:
