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TF was made so you don't have to fiddle with rotation matrices and quaternions by yourself. Just ask your TF listener object what the transform between two frames is, and apply it to your Pose.

The only example in the TF documentation sadly stops after looking up the transform, but after you got the Transform object, you can simply apply it to your Pose by using tf2::doTransform.

See the tf2_geometry_msgs API is here, and especially the doTransform, fromMsg, and toMsg entries. For completeness, the methods of the Listener class are here.

Don't forget to check that your transform was successful and the Pose is safe before sending your real robot to it.

TF was made so you don't have to fiddle with rotation matrices and quaternions by yourself. Just ask your TF listener object what the transform between two frames is, and apply it to your Pose.

The only example in the TF documentation sadly stops after looking up the transform, but after you got the Transform object, you can simply apply it to your Pose by using tf2::doTransformtf2_geometry_msgs::doTransform.

See the tf2_geometry_msgs API is here, and especially the doTransform, fromMsg, and toMsg entries. For completeness, the methods of the Listener class are here.

Don't forget to check that your transform was successful and the Pose is safe before sending your real robot to it.

TF was made so you don't have to fiddle with rotation matrices and quaternions by yourself. Just ask your TF listener object what the transform between two frames is, and apply it to your Pose.

The only example in the TF documentation sadly stops after looking up the transform, but after you got the Transform object, you can simply apply it to your Pose by using tf2_geometry_msgs::doTransform.

See the tf2_geometry_msgs API is here, and especially the doTransform, fromMsg, and toMsg entries. For completeness, the methods of the Listener class are here.

Don't forget to check that your transform was successful and the Pose is safe before sending your real robot to it.

TF was made so you don't have to fiddle with rotation matrices and quaternions by yourself. Just ask your TF listener object what the transform between two frames is, and apply it to your Pose.

The only example in the TF documentation sadly stops after looking up the transform, but after you got the Transform object, you can simply apply it to your Pose by using tf2_geometry_msgs::doTransform.

See the tf2_geometry_msgs API here, and especially the doTransform, fromMsg, and toMsg entries. For completeness, the methods of the Listener class are here.

Don't forget to check that your transform was successful and the Pose is safe before sending your real robot to it.

TF was made so you don't have to fiddle with rotation matrices and quaternions by yourself. Just ask your TF listener object what the transform between two frames is, and apply it to your Pose.

The only example in the TF documentation sadly stops after looking up the transform, but after you got the Transform object, you can simply apply it to your Pose by using tf2_geometry_msgs::doTransformdoTransform.

See the tf2_geometry_msgs TF2 API here, and especially the doTransform, fromMsg, and toMsg entries. For completeness, the methods of the Listener class are here.

Don't forget to check that your transform was successful and the Pose is safe before sending your real robot to it.

TF was made so you don't have to fiddle with rotation matrices and quaternions by yourself. Just ask your TF listener object what the transform between two frames is, and apply it to your Pose.

The only example in the TF documentation sadly stops after looking up the transform, but after you got the Transform object, you can simply apply it to your Pose by using doTransform.. Include tf2_geometry_msgs to use this.

See the TF2 API here, and especially the doTransform, fromMsg, and toMsg entries. For completeness, the methods of the Listener class are here.

Don't forget to check that your transform was successful and the Pose is safe before sending your real robot to it.