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After publishing the transform between 'banana' and 'basket' you can lookup the transform between them on a TransformListener as soon as the message has been received.

There is no explicit creation of a frame, there are only transforms stored between frames. That's why @gvdhoorn is referencing. It will automatically traverse any existing transforms to attempt to find any frame for which there is information.

The availability of a transform that references a frame will avoid the LookupException and cause a ConnectivityException or an ExtrapolationException so in that kind of reference the frame is "created" when published.

After publishing the transform between 'banana' and 'basket' you can lookup the transform between them on a TransformListener as soon as the message has been received.

There is no explicit creation of a frame, there are only transforms stored between frames. That's why @gvdhoorn is referencing. It will automatically traverse any existing transforms to attempt to find any frame for which there is information.

The availability of a transform that references a frame will avoid the LookupException and cause a ConnectivityException or an ExtrapolationException so in that kind of reference the frame is "created" when published.published. It does not matter if it's a child or parent.