Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

custom frames

frames

asked 2017-07-06 10:13:04 -0600

MechLc
39 ●10 ●14 ●18

How do I go about making my own frame in ROS? I do not know where "/world" frame comes from and I want to relate my own custom frame to world. I see frame ID's but I do not where the "/world" is initialized.

edit retag flag offensive close merge delete

Comments

Have you tried the tf tutorials?

jayess ( 2017-07-06 12:37:47 -0600 )edit

yes and no luck there.

MechLc ( 2017-07-06 12:38:39 -0600 )edit

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2017-07-06 22:37:20 -0600

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

TF frame names are implicit. If the frame_id in the Header of a message is set, the data is published in that frame. If you manually enter that frame name in Rviz's World Frame, you will be able to visualize the data from your publisher without needing to do any additional TF setup.

The /world frame is simply the default frame name in Rviz; it doesn't come from anywhere else.

If you have TF publishers or nodes that publish TF like robot_state_publisher, Rviz will auto-populate the World Frame dropdown with the names of the frames that is has seen recently.

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2017-07-06 10:13:04 -0600

Seen: 204 times

Last updated: Jul 06 '17

custom frames edit

Comments

1 Answer

Question Tools

Stats

Related questions

custom frames