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Connected Tf tree for multimaster turtlebots

asked 2015-08-11 12:39:25 -0600

Vinh K
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Hi everyone, has anyone find ways to connect multiple tf trees from different master into a single tf tree?

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answered 2016-09-14 14:34:17 -0600

tfoote

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Yes, if you are forwarding the tf data between the masters you just need to publish a transform between the root of one tree and any frame on the other tree (often it will also be the root as well such as the map. Maybe an identity transform between map frames.)

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Asked: 2015-08-11 12:39:25 -0600

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Last updated: Sep 14 '16

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Connected Tf tree for multimaster turtlebots