possible to use tf for robot_state_publisher?

asked 2016-05-22 11:22:06 -0500

inflo
406 ●24 ●26 ●31

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

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

is this possible ?

answered 2016-05-22 11:23:54 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2016-05-22 11:24:10 -0500

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).

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

inflo ( 2016-05-22 11:38:37 -0500 )edit

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

gvdhoorn ( 2016-05-22 11:59:42 -0500 )edit

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 ?

inflo ( 2016-05-22 12:03:19 -0500 )edit

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.

gvdhoorn ( 2016-05-22 12:22:39 -0500 )edit

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

inflo ( 2016-05-22 12:50:25 -0500 )edit

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

inflo ( 2016-05-23 08:58:16 -0500 )edit

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