ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

What is the use of tf_listener?

asked 2014-07-07 16:15:00 -0500

2ROS0 gravatar image

I understand that the tf_listener is used to lookup a transform from the tf_tree and then work with that transform to do whatever you want.

So it seems like the tf_listener is just a "tool" to be included in a node which needs the transform between one frame and another. Is there any other functionality of the tf_listener other than lookupTransform? Because the tf_tree exists with or without a tf_listener.

Thank you. (Trying to strengthen my understanding of tf concepts)

edit retag flag offensive close merge delete


go through the class of tf_listener it gives you more insight ,

bvbdort gravatar image bvbdort  ( 2014-07-07 16:49:26 -0500 )edit

@bvbdort: that is a really old version of that file. I'm not sure how much (or indeed, if) tf_listener has changed since DiamondBack, but it might be a good idea to look at the Hydro version (ie: 4 releases newer).

gvdhoorn gravatar image gvdhoorn  ( 2014-07-08 01:50:22 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2014-07-07 17:09:28 -0500

tfoote gravatar image

The TransformListener is just a tool for to be used inside other libraries. It has two main functions. The first is that it listens for /tf data and caches it locally. And the second is that it exposes the Transformer interface to allow queries against the cached data.

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2014-07-07 16:15:00 -0500

Seen: 408 times

Last updated: Jul 07 '14