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Linear velocity transformation in ROS

asked 2015-03-20 21:01:36 -0600

tn0432 gravatar image


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 -0600

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.

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@Lucas what about the angular velocity!!

rayane gravatar image rayane  ( 2019-08-19 09:32:29 -0600 )edit

@rayane were you able to figure out how to approach the angular velocity?

Joy16 gravatar image Joy16  ( 2020-05-29 08:59:34 -0600 )edit

I used this void the code in TF (transform twist) [here] (

rayane gravatar image rayane  ( 2020-05-29 10:31:45 -0600 )edit

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Asked: 2015-03-20 21:01:36 -0600

Seen: 1,015 times

Last updated: Mar 23 '15