possible to use tf for robot_state_publisher?

hi, i got a urdf file with two bodies and one joint. With the robotstatepublisher, i can send jointstates and the robot is moving in rviz to this jointstate.

I got tf of the second body from real-world and want to "connect" this tf to the robotstatepublisher directly, instead of sending joint_states ?

is this possible ?

Asked by inflo on 2016-05-22 11:22:06 UTC

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Answers

Yes.

But you won't be 'connecting' to robot_state_publisher, you just broadcast the TF frame yourself (unless you mean to 'connect' with the TF tree (fragment) broadcast by robot_state_publisher).

Asked by gvdhoorn on 2016-05-22 11:23:54 UTC

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the second i mean. use this tf frame as one of my robots instead

Asked by inflo on 2016-05-22 11:38:37 UTC

Yes, that would work (although it depends on what you mean with 'work', moveit fi can sometimes be finicky).

Asked by gvdhoorn on 2016-05-22 11:59:42 UTC

when someone sticks a qr-code onto a robot-arm, he gets a tf frame of the qr-code. How does this qr-code-tf-frame now gets "connected" with the robot-state-publishers tf frames ?

Asked by inflo on 2016-05-22 12:03:19 UTC

There is nothing to connect: TF is a distributed system, anyone can publish TF frames, at any time. Subscribers (really TF Listeners) aggregate all received msgs into one 'view' of the system. As long as all frames have transforms between them, this system works.

Asked by gvdhoorn on 2016-05-22 12:22:39 UTC

with "connect" i mean, using the information of the qr-code-tf, and fill this into a tf from the robot, which is already published by robot_state_publisher

Asked by inflo on 2016-05-22 12:50:25 UTC

i made a video with the two cubes, perhaps this describes better what i want to archive http://discourse.ros.org/t/robotic-humanoid-hand/188/38

Asked by inflo on 2016-05-23 08:58:16 UTC