How to use tf_remap??

asked 2015-08-26 10:25:09 -0500

beginner
83 ●5 ●9 ●12

updated 2015-09-01 08:03:17 -0500

Hello,

I have a rosbag in which a /tf topic is recorded.

I need to remap all tf frames in that bag which refer to the frame named '/world' to refer to a new frame named '/vision'. I tried the following but it is unfortunately not working:

rosrun tf tf_remap _mappings:='[{old: /world, new: /vision}]'

Am I missing something?

EDIT: I have also tried to do it from a launch file:

<launch>
  <node pkg="tf" type="tf_remap" name="tf_remapper" output="screen">
    <rosparam param="mappings">
      - {old: "/world",
         new: "/vision"}
    </rosparam>
  </node>
</launch>

but it's not working :(

Could it be that I am missing some argument when calling rosbag play?

EDIT 2: After searching, I found people saying that, in addition to running the tf_remap node, rosbag should be run as follows:

rosbag play x.bag /tf:=/tf_old

I tried it, and still it's not working :(

The tf_frames are still referring to /world rather than /vision.

Any help would be highly appreciated!!

edit retag flag offensive close merge delete

Comments

Did you end up figuring this out? I would love to know the answer. Thanks!

spmaniato ( 2016-02-04 09:27:35 -0500 )edit

I know this is not what you are asking but, for this use case I would just find&replace

OzzieTheHead ( 2021-08-20 14:47:44 -0500 )edit

add a comment

<node pkg="tf" type="tf_remap" name="tf_remapper" output="screen"> <rosparam param="mappings"> [{old: depth_camera, new: /camera_rgb_optical_frame},{old: thermal_camera, new: /camera_optris_frame}] </rosparam> </node> <node pkg="rosbag" type="play" name="player" args="--clock $(arg bag_dir)/$(arg file)"> <remap from="tf" to="tf_old" /> </node>

Comments