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Transform from laser frame to odom frame using transformation matrix in ROS c++

asked 2014-12-10 02:06:35 -0600

RSA_kustar gravatar image

I am using a pioneer3AT with a Hykuoy laser finder. when I run the RosAria, I have 2 frames The odom frame ( fixed frame wich represent the start of the movement) and the baselink frame which is attached to the body of the robot.

Also, when I run the URG_node I get another frame which is the laser frame.

I added the laser in the same direction of the base_link and I calculated the distance from the base_link frame to the laser frame is [0.206 0 0.16] in meters and I created a static tf transformation between the laser and the baselink as following.

  <node pkg="tf" type="static_transform_publisher" name="laser_frame" args="0.206 0 0.16 0 0 0 1 base_link laser 100" />

My TF tree is as follows: odom -> base_link -> laser

now, in the code, I am reading the sensor_msgs/laserScan msgs as (r, theta) -->

What I want is to do transformation these data from laser frame to odom frame ?? how can I do that in ROS (in c++)??

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answered 2014-12-10 04:44:24 -0600

bvbdort gravatar image

Get the required tf and transform the pose into the frame you wanted.

check this using transform tutorial , it will be helpful.

// Inside laser callback    

tf::TransformListener listener;
listener.waitForTransform("/laser_frame", "/odom", ros::Time(0), ros::Duration(10.0));

for (int i = 0; i < laser_scan->ranges.size();i++)
    range = laser_scan->ranges[i];
    angle  = laser_scan->angle_min +(i * laser_scan->angle_increment);

    geometry_msgs::PointStamped laser_point;

    laser_point.header.frame_id = "laser_frame";
    laser_point.header.stamp = ros::Time();
    laser_point.point.x = range*cos(angle) ;
    laser_point.point.y = range*sin(angle) ;
    laser_point.point.z = 0.0;

    geometry_msgs::PointStamped odom_point;

        listener.transformPoint("odom", laser_point, odom_point);

    catch(tf::TransformException& ex){
        ROS_ERROR("Received an exception trying to transform a point : %s", ex.what());

    //Odom point x,y are in odom frame     
    // Copy or do your stuff 

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Asked: 2014-12-10 02:06:35 -0600

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Last updated: Dec 10 '14