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Hi everyone! Quick question on tf::StampedTransform. By using that function in C++ does it create parent frame and child frame automatically? EX:
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "banana", "basket"));
In this case does the frame banana and basket get created?
Thanks!
After publishing the transform between 'banana' and 'basket' you can lookup the transform between them on a TransformListener as soon as the message has been received.
There is no explicit creation of a frame, there are only transforms stored between frames. That's why @gvdhoorn is referencing. It will automatically traverse any existing transforms to attempt to find any frame for which there is information.
The availability of a transform that references a frame will avoid the LookupException and cause a ConnectivityException or an ExtrapolationException so in that kind of reference the frame is "created" when published. It does not matter if it's a child or parent.
Asked: 2018-03-27 12:01:11 -0500
Seen: 910 times
Last updated: Mar 27 '18
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That depends on how you define when a frame is "created".
I guess my question is where is a frame defined? Within the broadcasters CPP file or somewhere else?