Where can I get TransformStamped values?
I am quite new to ROS and I am creating a new frame "map" as I am using map_server to publish map and also creating a tf2 from map to odom, which is required for the localization. So the first step, is to create a TransformStamped object with details filled in. The header.frame_id and header.child_id is obivious, map and odom, but where can I obtain the transform values? When I have included amcl package and run rosrun tf tf_echo map odom I got these results and I wonder where can I get them?:
At time 13.558
- Translation: [0.013, -0.002, 0.000]
- Rotation: in Quaternion [-0.000, 0.000, 0.000, 1.000]
in RPY (radian) [-0.000, 0.000, 0.000]
in RPY (degree) [-0.000, 0.001, 0.010]
see related: #q306575
@stevemartin: you may want to review REP-105. That should make the relationship between all these frames a little clearer.
@mgruhler is correct: those values are not "special", they are the result of localisation of your robot in the
mapframe.