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tf transformpose with Odometry message

asked 2015-09-14 03:46:53 -0500 gravatar image

I have some Odometry messages arriving in a frame, that I'd like to translate to another frame. I'm trying to do this with

t = tf.TransformerROS(True, rospy.Duration(10.0))
pose_base = t.transformPose("map", msg.pose)

However I get #AttributeError: 'PoseWithCovariance' object has no attribute 'header'

This I think is because the Odometry message itself is stamped with msg.header.stamp, but PoseWithCovarience part, msg.pose, does not have it's own stamp. What's the best way to send this information to tf to get the transformed pose? (I don't care about the twist, but it would be nice to have the covarience of the pose transformed.)

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answered 2015-09-14 09:06:04 -0500

PT gravatar image

Because transformPose requires a PoseStamped message, one way is to create a PoseStamped message (not need to publish it). Then, fill the PoseStamped message with the information from your Odom message, and use it for transformPose function.

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Asked: 2015-09-14 03:46:53 -0500

Seen: 867 times

Last updated: Sep 14 '15