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Why would you remap the tf topic?

asked 2016-06-15 03:08:55 -0500

Felix Duvallet gravatar image

I've seen some code that looks like this:

 <node name="jointState2tf"
         pkg="robot_state_publisher"
         type="robot_state_publisher">
     <remap from="tf" to="hand/tf"/>
     <remap from="joint_states" to="hand/joint_states"/>
   </node>

Why would one remap the /tf topic to something else (in this case, hand/tf)? Shouldn't all Transform messages go on the /tf topic anyways?

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answered 2016-06-15 07:49:33 -0500

kramer gravatar image

One use case I know of (apparently not the one you're referencing): you want to simulate the effects of commands without actually moving the robot. That is, you maintain two sets of tf information, one for the actual robot and one for the sim-robot, syncing them occasionally.

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Asked: 2016-06-15 03:08:55 -0500

Seen: 886 times

Last updated: Jun 15 '16