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tf subscriber information ?

asked 2014-07-14 15:43:31 -0500

2ROS0 gravatar image


I'm working with a complicated ROS system involving a number of nodes and therefore a tf tree. I just wanted to know, is there a command to find out which particular transform or tfs are being subscribed to by a given node.

For example, when I see the rqt_graph, it just shows the node subscribe to /tf and not which tf. Along the same lines, it only shows which nodes are publishing to /tf but not which transform particularly.

Thank you very much.

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answered 2014-07-14 16:07:36 -0500

updated 2014-07-14 16:08:03 -0500

You can run

rosrun tf tf_monitor

to see which nodes publish which frames to tf. Alternatively, you can run

  rosrun tf view_frames

and view the resulting PDF.

There is no generic way to know which frames are used inside a node, however. All nodes with tf TransformListeners receive all messages published on the tf topic, so from a ROS communication layer view there is no way to know.

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Thank you, that's what I wanted to know. So I guess the go to option to figure that out is to read the source code then.

2ROS0 gravatar image 2ROS0  ( 2014-07-14 16:24:15 -0500 )edit

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Asked: 2014-07-14 15:43:31 -0500

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Last updated: Jul 14 '14