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how to set-up /tf_static ?

asked 2015-04-18 12:41:32 -0500

julienH gravatar image

I’m setting up the move_base on our robot to allow autonomous navigation.

In order to publish the static transform between base_laser and base_link and reduce the load on the “communication” link, I want to use the tf_static topic of tf2 instead of the tf:broadcaster. I don’t understand how to do that. Could you help me?

Is it possible for move_base to use transform publish on tf_static topic?

Best regards,

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answered 2015-04-19 15:20:48 -0500

I usually use this command in a launchfile :

<launch>
      <node pkg="tf" type="static_transform_publisher" 
            name="my_tf" args="0 0 1 3.14 0 1.57 /map /my_tf 30"/>
</launch>

the args are the translation for the 3 first arguments and the angles ( in Radian in an Euler form ) for the 3 last ones.

I hope this will help you

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Asked: 2015-04-18 12:41:32 -0500

Seen: 1,205 times

Last updated: Apr 19 '15