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Should I use tf or tf2 for broadcasting/receiving transforms?

asked 2014-02-19 12:23:53 -0500

Athoesen gravatar image

updated 2016-10-24 08:59:54 -0500

ngrennan gravatar image

As highlighted here:

There are some issues with using tf2 as opposed to tf. As someone who is just now looking into using these features, what should I be looking at? Are tf2 and its tutorials something which should be avoided at the moment? Will the documentation/package for tf2 be fixed any time soon? I'm looking into writing a simple broadcaster/receiver for my Kinect transforms in Rviz and would really like some guidance and what tutorials to look at.

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answered 2014-02-19 13:41:54 -0500

tfoote gravatar image

tf2 follows similar design patterns. The API documentation is fine. However the tutorials are out of date due to a renamespacing of certain functionality for API review.

If you want a quick tutorial and to get going quickly tf is probably your best bet.

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Asked: 2014-02-19 12:23:53 -0500

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Last updated: Feb 19 '14