Revision history [back]

My apologies, I am still learning how ROS transformations work. It turns out I had the parent and child frames backwards. The waitForTransform and loopkupTransform calls should be as follows:

tf_listener.waitForTransform("/trackable", "/optitrak", ros::Time(0),ros::Duration(2));
tf_listener.lookupTransform("/trackable", "/optitrak",  ros::Time(0), trackable);

It turns out ros_vrpn_node and the NaturalPoint OptiTrack system use a right handed coordinate system. My apologies, I am still learning how ROS transformations work. It turns out I had the parent and child frames backwards. The waitForTransform and loopkupTransform calls should be as follows:

tf_listener.waitForTransform("/trackable", "/optitrak", ros::Time(0),ros::Duration(2));
tf_listener.lookupTransform("/trackable", "/optitrak",  ros::Time(0), trackable);