how can I modify the value of a transform when playing back a bag file?

asked 2011-06-03 15:12:41 -0600

phil0stine
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updated 2011-06-06 12:53:00 -0600

tfoote

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Just like there are message filters, would it be possible to make tf filters?

I often find I want to modify the value of a single node in the tf tree when I have a bagfile, or to eliminate broadcasts on tf altogether.

It also could be useful to associate/utilize multiple tf's together, even when broadcast at different rates. Like ApproximateTime can do with messages

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answered 2011-06-06 12:51:55 -0600

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

updated 2011-06-06 12:52:05 -0600

There's a tool called tf_remap which does approximately what you want. You can use the mappings to rename the unwanted frames and then republish them using another process.

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answered 2011-06-03 23:26:57 -0600

dornhege

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I'm not sure how the subject relates to the text, but I think you are not looking for a tf::MessageFilter, or are you?

For eliminating /tf you might be able to remap the /tf topic to some other topic.

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Thanks for the link. Not exactly what I was thinking of, but its certainly a useful feature. Instead of remapping all of /tf, I wonder if I could remap only one transform on the /tf tree. Mostly, I want to match transforms based on their broadcast stamps

phil0stine ( 2011-06-04 15:22:35 -0600 )edit

My guess is you can't remap certain parts of the tf tree to something else, but someone might have a solution. Matching transforms based on the stamps should be done by the tf library automatically.

dornhege ( 2011-06-05 01:19:58 -0600 )edit

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how can I modify the value of a transform when playing back a bag file?

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