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Connected Tf tree for multimaster turtlebots

asked 2015-08-11 12:39:25 -0500

Vinh K gravatar image

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 -0500

tfoote gravatar image

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 -0500

Seen: 133 times

Last updated: Sep 14 '16