custom frames

How do I go about making my own frame in ROS? I do not know where "/world" frame comes from and I want to relate my own custom frame to world. I see frame ID's but I do not where the "/world" is initialized.

Asked by MechLc on 2017-07-06 10:13:04 UTC

Comments

Have you tried the tf tutorials?

Asked by jayess on 2017-07-06 12:37:47 UTC

yes and no luck there.

Asked by MechLc on 2017-07-06 12:38:39 UTC

Answers

TF frame names are implicit. If the frame_id in the Header of a message is set, the data is published in that frame. If you manually enter that frame name in Rviz's World Frame, you will be able to visualize the data from your publisher without needing to do any additional TF setup.

The /world frame is simply the default frame name in Rviz; it doesn't come from anywhere else.

If you have TF publishers or nodes that publish TF like robot_state_publisher, Rviz will auto-populate the World Frame dropdown with the names of the frames that is has seen recently.

Asked by ahendrix on 2017-07-06 22:37:20 UTC