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custom frames

asked 2017-07-06 10:13:04 -0500

MechLc gravatar image

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.

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Have you tried the tf tutorials?

jayess gravatar image jayess  ( 2017-07-06 12:37:47 -0500 )edit

yes and no luck there.

MechLc gravatar image MechLc  ( 2017-07-06 12:38:39 -0500 )edit

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answered 2017-07-06 22:37:20 -0500

ahendrix gravatar image

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.

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Asked: 2017-07-06 10:13:04 -0500

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Last updated: Jul 06 '17