ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Thu, 15 Jun 2023 09:47:44 -0500what calculation method did tf use to compute transform between joint poses ?https://answers.ros.org/question/415909/what-calculation-method-did-tf-use-to-compute-transform-between-joint-poses/ Where can I see how ROS tf calculate coordinate pose transformation between joints. As far as I know, the urdf file use euler rpy angle as input and RViz tf use quaternion representation. Where can I see the calculation behind it ? I found transformation.py on one of the tf folder, which one is the tf pose conversion?
ThanksSat, 27 May 2023 23:28:26 -0500https://answers.ros.org/question/415909/what-calculation-method-did-tf-use-to-compute-transform-between-joint-poses/Comment by TapleFlib for <p>Where can I see how ROS tf calculate coordinate pose transformation between joints. As far as I know, the urdf file use euler rpy angle as input and RViz tf use quaternion representation. Where can I see the calculation behind it ? I found transformation.py on one of the tf folder, which one is the tf pose conversion?</p>
<p>Thanks</p>
https://answers.ros.org/question/415909/what-calculation-method-did-tf-use-to-compute-transform-between-joint-poses/?comment=416522#post-id-416522Sorry for the late reply, I'm asking for the forward kinematics, I learned about it these few days and I find out that tf only use simple Transformation matrix multiplication to do the transform. Thanks for the reply though !Thu, 15 Jun 2023 09:47:44 -0500https://answers.ros.org/question/415909/what-calculation-method-did-tf-use-to-compute-transform-between-joint-poses/?comment=416522#post-id-416522Comment by Mike Scheutzow for <p>Where can I see how ROS tf calculate coordinate pose transformation between joints. As far as I know, the urdf file use euler rpy angle as input and RViz tf use quaternion representation. Where can I see the calculation behind it ? I found transformation.py on one of the tf folder, which one is the tf pose conversion?</p>
<p>Thanks</p>
https://answers.ros.org/question/415909/what-calculation-method-did-tf-use-to-compute-transform-between-joint-poses/?comment=415916#post-id-415916It's not clear which calculation are you asking about. Are you asking about conversion between euler angles and quaternion? Or are you asking about Forward Kinematics for a robot arm?Sun, 28 May 2023 08:08:09 -0500https://answers.ros.org/question/415909/what-calculation-method-did-tf-use-to-compute-transform-between-joint-poses/?comment=415916#post-id-415916