Ask Your Question
2

Linear velocity transformation in ROS

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

tn0432 gravatar image

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

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

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

lucasw gravatar image

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.

edit flag offensive delete link more

Comments

@Lucas what about the angular velocity!!

rayane gravatar imagerayane ( 2019-08-19 09:32:29 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

3 followers

Stats

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

Seen: 343 times

Last updated: Mar 23 '15