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What is the difference between tf and tf2?

asked 2011-09-18 15:14:32 -0600

Kevin gravatar image

What does tf2 add that tf doesn't have and why would I choose one over the other? It isn't clear to me what the difference is ... thanks.

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answered 2011-09-18 16:14:39 -0600

tfoote gravatar image

tf2 is a new implementation of tf with better abstraction and dependency isolation. See the wiki page for an overview: tf2 The design of the new version is documented on the tf2/Design page.

tf2 is still experimental and in the geometry_experimental stack and it is still recommended to use the tf package until tf2 is released in the geometry stack.

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This http://answers.ros.org/question/77061/tf2-migration-for-hydro/ and http://wiki.ros.org/hydro/Migration#tf2.2BAC8-Migration.General_Backwards_compatability says tf is deprecated in hydro, "It is recommended for new work to use tf2 directly as it has a cleaner interface."

lucasw gravatar imagelucasw ( 2013-11-01 13:50:23 -0600 )edit

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Asked: 2011-09-18 15:14:32 -0600

Seen: 6,285 times

Last updated: Sep 18 '11