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What is the difference between TransformStamped and PoseStamped

asked 2014-12-30 07:09:37 -0600

Hello, what is the difference between geometry_msgs/TransformStamped and geometry_msgs/PoseStamped? I know that the first one is used for transformation but is it possible to replace the second one with the first one? I got the geometry_msgs/TransformStamped from vicon_bridge node but actually i need the PoseStamped to represent the pose of the robot and objects. Maybe i miss understand something, any one can help?

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answered 2014-12-30 07:38:28 -0600

Tom Moore gravatar image

The only real difference between them is that TransformStamped has a child_frame_id field, and PoseStamped doesn't. This implies that the former specifies a transform from the header's frame_id to child_frame_id. However, it's just a message, and does not affect the tf transform tree.

In any case, just from a brief glance at the package wiki page, it looks like they're just stuffing a pose in there. You can pull the source code from their repo and modify it to output the message type you want.

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Thanks Tom, I wrote a node that subscribes to TransformStamped and publish PoseStamped.

Anas Alhashimi gravatar image Anas Alhashimi  ( 2014-12-30 08:17:53 -0600 )edit

That will also work, though it adds an extra step.

Tom Moore gravatar image Tom Moore  ( 2014-12-30 08:35:22 -0600 )edit

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Asked: 2014-12-30 07:09:37 -0600

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Last updated: Dec 30 '14