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You are trying to connect the tf trees at by adding the base_link -> camera_link. However, given that alvar_link_1 and robot_link_1 refer to the same frame, you can make the problem simpler by connecting the tf trees by adding the alvar_link_1 -> camera_link transformation.

For that, get

known_transform = tf_bufffer.lookup_transform('alvar_link_1' , 'camera_link', rospy.Time.now(), rospy.Duration(1.0))

and publish the same transformation with

parent_frame = robot_link_1
child_frame = camera_link

You are trying to connect the tf trees at by adding the base_link -> camera_link. However, given that alvar_link_1 and robot_link_1 refer to the same frame, you can make the problem simpler by connecting the tf trees by adding the alvar_link_1robot_link_1 -> camera_link transformation.

For that, get

known_transform = tf_bufffer.lookup_transform('alvar_link_1' , 'camera_link', rospy.Time.now(), rospy.Duration(1.0))

and publish the same transformation with

parent_frame = robot_link_1
child_frame = camera_link