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 | 1 | initial version |
Can anyone tell me which of the answers above is correct for tf in Indigo - and does Python tf behave the same as C++ tf?
| | 2 | No.2 Revision |
Can anyone tell me which of the answers above given is correct for tf in Indigo - and does Python tf behave the same as C++ tf?tf?
i.e. does tf
| | 3 | No.3 Revision |
Can anyone tell me which of the answers given is correct for tf in Indigo - and does Python tf behave the same as C++ tf? i.e. does tf
I think that http://wiki.ros.org/tf/FAQ#How_does_tf_deal_with_interpolation_and_extrapolation.3F claims that it does interpolation, but it's not totally unambiguous.
| | 4 | No.4 Revision |
Can anyone tell me which of the answers given is correct example code below for tf in Indigo - and does Python tf behave the same as C++ tf?
i.e. does tf
note: I think that http://wiki.ros.org/tf/FAQ#How_does_tf_deal_with_interpolation_and_extrapolation.3F claims that it does interpolation, but it's not totally unambiguous.is ambiguous in its description of interpolation.
(gvdhoorn: thanks for your help, and updated this into an answer rather than a question)
#include <ros/ros.h>
#include <string>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <tf/LinearMath/Vector3.h>
int main(int argc, char** argv){ ros::init(argc, argv, "pose_repeater_service");
ros::NodeHandle node;
// http://wiki.ros.org/tf/Overview/Broadcasting%20Transforms
// http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20%28C%2B%2B%29
// void sendTransform(const StampedTransform & transform);
// void sendTransform(const geometry_msgs::TransformStamped & transform);
static tf::TransformListener tfListener(ros::Duration(100));
static tf::TransformBroadcaster tfBroadcaster;
tf::Transform transform;
transform.setOrigin( tf::Vector3(0.0, 0.0, 0.0) );
tf::Quaternion q(0.0, 0.0, 0.0, 1.0);
q.setRPY(0, 0, 0);
transform.setRotation(q);
ros::Time time1;
time1 = ros::Time::now();
tfBroadcaster.sendTransform(tf::StampedTransform(transform, time1, "/map", "/turtle_bob"));
tfBroadcaster.sendTransform(tf::StampedTransform(transform, time1, "/map", "/turtle_bob_1"));
ros::Duration(1.0).sleep();
ros::Time time2 = ros::Time::now();
transform.setOrigin( tf::Vector3(5.0, 5.0, 0.0) );
q = tf::Quaternion(0.0, 0.0, 0.707106781, 0.707106781);
transform.setRotation(q);
ros::Duration(1.0).sleep();
// ros::Time time3(1000000,2000000);
ros::Time time3;
time3 = ros::Time::now();
tfBroadcaster.sendTransform(tf::StampedTransform(transform, time3, "/map", "/turtle_bob"));
tfBroadcaster.sendTransform(tf::StampedTransform(transform, time3, "/map", "/turtle_bob_2"));
ros::Rate rate(10.0);
int i_ = 0;
while (node.ok()){
transform.setOrigin( tf::Vector3(0.0, 2.0+(0.01*i_), 0.0) );
transform.setRotation( tf::Quaternion(0, 0, 0, 1.0) );
tfBroadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "map", "carrot1"));
i_++;
for(int j_=0; j_<=10; j_++) {
tf::StampedTransform transformFound;
// ros::Time time_(1000000,1000000+(j_*100000));
ros::Time time_;
time_ = time2;
uint64_t time2_ns = time2.toNSec()+(j_*100*1000*1000);
time_.fromNSec(time2_ns);
try{
tfListener.waitForTransform("/turtle_bob", "/map", time_, ros::Duration(1.0)); //ros::Time(0)
tfListener.lookupTransform( "/turtle_bob", "/map", time_, transformFound);
tfBroadcaster.sendTransform(tf::StampedTransform(transformFound, ros::Time::now(), "map", "turtle_bob_2_1"));
}
catch (tf::TransformException &ex) {
ROS_ERROR("%s",ex.what());
ros::Duration(1.0).sleep();
continue;
}
try{
tfListener.waitForTransform("/map", "/turtle_bob", time_, ros::Duration(1.0)); //ros::Time(0)
tfListener.lookupTransform( "/map", "/turtle_bob", time_, transformFound);
tfBroadcaster.sendTransform(tf::StampedTransform(transformFound, ros::Time::now(), "map", "turtle_bob_2_2"));
}
catch (tf::TransformException &ex) {
ROS_ERROR("%s",ex.what());
ros::Duration(1.0).sleep();
continue;
}
rate.sleep();
}
tfBroadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "map", "carrot1"));
rate.sleep();
}
return 0;
};
| | 5 | No.5 Revision |
example code below for tf in Indigo (on Ubuntu 14.04) interpolating between the two transforms nearest in timetime . You will need to run a map server or similar to set up the /map frame.
note: I think that http://wiki.ros.org/tf/FAQ#How_does_tf_deal_with_interpolation_and_extrapolation.3F is ambiguous in its description of interpolation.
(gvdhoorn: thanks for your help, and updated this into an answer rather than a question)
#include <ros/ros.h>
#include <string>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <tf/LinearMath/Vector3.h>
int main(int argc, char** argv){ ros::init(argc, argv, "pose_repeater_service");
ros::NodeHandle node;
// http://wiki.ros.org/tf/Overview/Broadcasting%20Transforms
// http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20%28C%2B%2B%29
// void sendTransform(const StampedTransform & transform);
// void sendTransform(const geometry_msgs::TransformStamped & transform);
static tf::TransformListener tfListener(ros::Duration(100));
static tf::TransformBroadcaster tfBroadcaster;
tf::Transform transform;
transform.setOrigin( tf::Vector3(0.0, 0.0, 0.0) );
tf::Quaternion q(0.0, 0.0, 0.0, 1.0);
q.setRPY(0, 0, 0);
transform.setRotation(q);
ros::Time time1;
time1 = ros::Time::now();
tfBroadcaster.sendTransform(tf::StampedTransform(transform, time1, "/map", "/turtle_bob"));
tfBroadcaster.sendTransform(tf::StampedTransform(transform, time1, "/map", "/turtle_bob_1"));
ros::Duration(1.0).sleep();
ros::Time time2 = ros::Time::now();
transform.setOrigin( tf::Vector3(5.0, 5.0, 0.0) );
q = tf::Quaternion(0.0, 0.0, 0.707106781, 0.707106781);
transform.setRotation(q);
ros::Duration(1.0).sleep();
// ros::Time time3(1000000,2000000);
ros::Time time3;
time3 = ros::Time::now();
tfBroadcaster.sendTransform(tf::StampedTransform(transform, time3, "/map", "/turtle_bob"));
tfBroadcaster.sendTransform(tf::StampedTransform(transform, time3, "/map", "/turtle_bob_2"));
ros::Rate rate(10.0);
int i_ = 0;
while (node.ok()){
transform.setOrigin( tf::Vector3(0.0, 2.0+(0.01*i_), 0.0) );
transform.setRotation( tf::Quaternion(0, 0, 0, 1.0) );
tfBroadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "map", "carrot1"));
i_++;
for(int j_=0; j_<=10; j_++) {
tf::StampedTransform transformFound;
// ros::Time time_(1000000,1000000+(j_*100000));
ros::Time time_;
time_ = time2;
uint64_t time2_ns = time2.toNSec()+(j_*100*1000*1000);
time_.fromNSec(time2_ns);
try{
tfListener.waitForTransform("/turtle_bob", "/map", time_, ros::Duration(1.0)); //ros::Time(0)
tfListener.lookupTransform( "/turtle_bob", "/map", time_, transformFound);
tfBroadcaster.sendTransform(tf::StampedTransform(transformFound, ros::Time::now(), "map", "turtle_bob_2_1"));
}
catch (tf::TransformException &ex) {
ROS_ERROR("%s",ex.what());
ros::Duration(1.0).sleep();
continue;
}
try{
tfListener.waitForTransform("/map", "/turtle_bob", time_, ros::Duration(1.0)); //ros::Time(0)
tfListener.lookupTransform( "/map", "/turtle_bob", time_, transformFound);
tfBroadcaster.sendTransform(tf::StampedTransform(transformFound, ros::Time::now(), "map", "turtle_bob_2_2"));
}
catch (tf::TransformException &ex) {
ROS_ERROR("%s",ex.what());
ros::Duration(1.0).sleep();
continue;
}
rate.sleep();
}
tfBroadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "map", "carrot1"));
rate.sleep();
}
return 0;
};
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