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How can i write a tf?

asked 2014-01-21 23:01:50 -0600

programmer gravatar image

How can i write a tf? do anybody have a example of tf?

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What you mean by "write a tf"?

ZdenekM gravatar imageZdenekM ( 2014-01-22 01:20:06 -0600 )edit

I don't know but when i want to creating a map using hector slam, it needs a tf?

programmer gravatar imageprogrammer ( 2014-01-22 03:10:12 -0600 )edit

Is your laser fixed on a robot or are you using laser alone without anything else? It would be nice to make your question more detailed - more details will lead to better answers ;)

ZdenekM gravatar imageZdenekM ( 2014-01-22 03:29:46 -0600 )edit
ZdenekM gravatar imageZdenekM ( 2014-01-22 03:35:16 -0600 )edit

Thanks for your attention dear. yes, i read tutorial but i don't understand it completely. my laser fixed on robot by two dynamixel motor (roll and pitch) to Balance it by gyro, how can i write a tf with this stuff?

programmer gravatar imageprogrammer ( 2014-01-22 18:58:37 -0600 )edit

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answered 2014-01-22 19:32:02 -0600

ZdenekM gravatar image

Ok, with laser scanner fixed on two servos you need following:

  • create appropriate URDF model (including robot, those servos / joints, your laser scanner)
  • publish current angles of servos to joint_states topic (sensor_msgs/JointState)
  • run robot_state_publisher which will transform joint state to TF
  • read carefully tutorial on how to setup hector_slam on your robot

Then, there will be TF transformation between laser scanner (laser_link in the tutorial) and robot base (base_link).

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Thanks for your time.

programmer gravatar imageprogrammer ( 2014-01-22 19:42:54 -0600 )edit

answered 2014-01-21 23:56:13 -0600

dornhege gravatar image

There is plenty of information and tutorials on the tf page.

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Asked: 2014-01-21 23:01:50 -0600

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Last updated: Jan 22 '14