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I've got a better idea. Just write a simple node that uses a TransformListener and print out that information directly. Ideally, someone would write a patch for tf_echo so that precision can be specified...

#!/usr/bin/python

import roslib; roslib.load_manifest('package_name')
import rospy
import tf

if __name__ == '__main__':
    rospy.init_node('tf_a')
    listener = tf.TransformListener()

    rate = rospy.Rate(10.0)
    while not rospy.is_shutdown():
    try:
        (trans,rot) = listener.lookupTransform('/ref_58_link_hub', '/ref_60_link', rospy.Time(0))
        print trans, rot
    except (tf.LookupException, tf.ConnectivityException):
        continue

    rate.sleep()