Ask Your Question
0

Time travel with tf - tutorial - confusing target and source frames

asked 2018-07-10 04:16:28 -0500

Azergoo gravatar image

updated 2018-07-10 04:47:24 -0500

Regarding the time travel with tf tutorial: http://wiki.ros.org/tf/Tutorials/Time...

It is stated:

Give the transform from this frame, at this time ... to this frame, at this time. Specify the frame that does not change over time, in this case the "/world" frame, and the variable to store the result in.

But I find that confusing, since I thought it was:

Give the transform TO this frame, at this time ... FROM this frame, at this time. Specify the frame that does not change over time, in this case the "/world" frame, and the variable to store the result in.

Did I miss something or is the order of TO/FROM wrong/misleading?

From what I can see from the documentation you pass the target first, then the source.

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted
2

answered 2018-07-10 18:39:50 -0500

tfoote gravatar image

You are right that it's a little confusing.

The transform from Frame A to Frame B is the transform which when applied to an object in frame B will represent it in frame A.

More info here: https://answers.ros.org/question/1940...

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2018-07-10 03:51:25 -0500

Seen: 114 times

Last updated: Jul 10 '18