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Distance measurements and tf

asked 2011-07-14 05:14:32 -0500

Poseidonius gravatar image

updated 2014-01-28 17:10:03 -0500

ngrennan gravatar image

Hi everyone,

I monitor a small robot with a number of external distance sensors. The sensors are implemented as ROS nodes publishing their results. Now I want to integrate a mechanism that allows a transformation of the measurements related to a known position of the sensor. Short

Distance measurements + Sensor Position = correct representation in the world

I guess their exists a solution for this problem in ROS?

Best wishes from Germany

Poseidonius

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answered 2011-07-14 20:48:27 -0500

Miguel Prada gravatar image

updated 2011-07-19 07:50:03 -0500

Best way is probably to use URDF and robot_state_publisher to define and publish your robot description, including sensor location, to tf.

Then, if you publish your sensor data using one of the message types with a built-in rviz display (e.g. sensor_msgs/Range) you will be able to easily visualize it on 3D.

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There's also a Range datatype defined in sensor_msgs http://www.ros.org/doc/api/sensor_msgs/html/msg/Range.html for which there are rviz visualizers in the nxt packages and soon will be built into rviz.
tfoote gravatar image tfoote  ( 2011-07-19 05:09:03 -0500 )edit
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answered 2011-07-14 07:53:24 -0500

Mac gravatar image

As you've already noticed, tf is the tool you want. Define frames for your various items, publish the transforms between them, and you're good to go. See the tf tutorials.

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dornhege gravatar image dornhege  ( 2011-07-14 09:37:18 -0500 )edit

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Asked: 2011-07-14 05:14:32 -0500

Seen: 1,786 times

Last updated: Jul 19 '11