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Ok.... huh...

I just was trying to implement this, when I saw your question. So I will try to help you, or at least show you my solution which seams to work. It is done in C++.

So you need following headers:

#include <tf2_ros/transform_listener.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>

Than initialise all variables:

tf2_ros::Buffer tfBuffer;
tf2_ros::TransformListener tfListener(tfBuffer);
geometry_msgs::TransformStamped transform;

Ant than the magic line:

  try{
    transform = tfBuffer.lookupTransform("base_link", frame_id, ros::Time(0));
  }
  catch (tf2::TransformException ex ){
            ROS_ERROR("%s",ex.what());
  }

To this solution I came by searching code of geometry_experimental stack on GitHub.