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TF message arrays

asked 2011-06-05 08:19:20 -0500

updated 2011-06-05 08:42:30 -0500

I want to publish some sort of location data but in unknown quantities. I use some sort of vision algorithm to find items in scene I want to publish 0...n found items in single message. So I can compare this set to one found in next frame or message.

Vector3Stamped.msg looks mostly what I need but I change definition "Vector3 vector" to "Vector3[] vector".

Question is, if TF is able to handle the situation and provide conversion without hassle? As much I understand, TF knows some datatypes and provides easy conversion on them. Can it understand arrays? Current situation:

tonu@hp:~/TYROS/tyros_camera$ cat msg/Objects.msg 
Header header
Object[] object

tonu@hp:~/TYROS/tyros_camera$ cat msg/Object.msg 
geometry_msgs/Vector3 vector
float32 certainity
string type

tonu@hp:~/TYROS/tyros_camera$
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answered 2011-06-17 12:14:17 -0500

tfoote gravatar image

The standard TF methods do not support arrays of messages. You can easily write a wrapper methods which has a for loop to do so.

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Asked: 2011-06-05 08:19:20 -0500

Seen: 266 times

Last updated: Jun 17 '11