Transformations
Frame hopping.
Use minkindr to represent transformations.
Further details on the transformation notation, frame names and conventions can be found on the wiki page.
TF2
tf-remapping
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.
publish-static-transforms
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:
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