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add a new frame to the tree

asked 2011-07-03 02:00:24 -0500

Nutan gravatar image

updated 2011-07-03 02:07:13 -0500

Hi,

I use the following commands to build add a frame to a tree. The rviz shows there is a frame, but when I try obj_frame_pose_stamped = change_pose_stamped_frame(self.tf_listener, pose_stamped, "base_link"), the error is:tf.Exception: Frame id /grasp_frame does not exist!

Do you have any ideas?

        br = tf.TransformBroadcaster()
        br.sendTransform((1,0,0),
                         (0, 0, 0, 1),
                         self.object_stamp[0],
                         "grasp_frame",
                         "openni_rgb_optical_frame")
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answered 2011-07-03 11:08:48 -0500

mmwise gravatar image

You need to publish the transform on a regular interval. TF has a buffer is only a couple seconds deep. If you publish the transform and then try to lookup the transform between that frame and another frame more than the time range of the TF buffer you will not be able to. In rviz you will most likely see the frame turn grey after some time interval showing that the transform information is stale.

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it works. Thanks!
Nutan gravatar image Nutan  ( 2011-07-04 12:49:33 -0500 )edit

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Asked: 2011-07-03 02:00:24 -0500

Seen: 208 times

Last updated: Jul 03 '11