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Linear velocity transformation in ROS

asked 2015-03-20 21:01:36 -0500

tn0432

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Hello,

I use camera to estimate the linear velocities in camera frame. I would like to transform these estimations of linear velocities from camera frame to robot frame. How can I do that? Are there any available commands can help us? I try to find in tf but only having lookupTwist not for this purpose.

Many thanks

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answered 2015-03-23 10:52:48 -0500

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

Create a frame that has the same orientation as robot frame but the same origin as camera frame, then use transformPoint on the velocity vector (which can be treated as a point that is relative to the camera frame) from camera frame to the shifted robot frame. Since it is linear velocity the velocity is the same everywhere on the robot, so the translated origin doesn't matter.