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How to use Eigen with tf2?

asked 2016-01-10 12:14:16 -0600

Boris_il_forte gravatar image

updated 2016-01-12 07:10:21 -0600

As tf is deprecated, I've started learning how to use tf2.

Unfortunately the documentation and the tutorials are not complete, as the old tf tutorial where.

In particular there's no explanation on how to publish in the most effective way an Eigen transformation throught tf.

The only way I've managed to solve the problem, was writing a boilerplate code, filling a message manually.

This happens as there's no function, as far as I can see, in the tf2_eigen package to convert an Eigen affine3D transformation into a geometry_message.

There seemes to be no documentation for tf2_eigen package. If I'm wrong, can you please point me where I can find the documentation?

And, by the way, the "external conversion" interface (that seemes to be complete only for kdl) is very strange, I would expect a templated broadcaster, in wich i could send an eigen transform like this:

broadcaster.sendTransform(eigenTransform, parent_frame, child_frame, timestamp);
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answered 2016-01-11 05:32:48 -0600

gvdhoorn gravatar image

updated 2016-01-11 05:37:40 -0600

There seemes to be no documentation for tf2_eigen package. If I'm wrong, can you please point me where I can find the documentation?

wiki.ros.org/tf2_eigen โ†’ Package Links - Code API โ†’ Files โ†’ tf2_eigen.h leads to this page, which is at least something.

I agree it could use some more actual comments, though.

I suggest to (politely) complain about this on the geometry_experimental/issues tracker.


Edit:

And, by the way, the "external conversion" interface (that seemes to be complete only for kdl)

Yes, it would be nice if the tf2_eigen package also provided the Eigen version of tf2::kdlToTransform(..). Currently only tf2::transformToEigen(..) is there.

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Yes, I saw the doxygen, but as you say is not so useful. Is completely missing an example of how to use properly the package with tf...

Boris_il_forte gravatar imageBoris_il_forte ( 2016-01-11 06:21:59 -0600 )edit

opened issue

Boris_il_forte gravatar imageBoris_il_forte ( 2016-01-11 06:36:12 -0600 )edit
Boris_il_forte gravatar imageBoris_il_forte ( 2016-01-11 07:07:06 -0600 )edit

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Asked: 2016-01-10 12:14:16 -0600

Seen: 1,797 times

Last updated: Jan 12 '16