Ask Your Question
0

What is this WaitForTransform and lookupTransform function overloading do?

asked 2018-07-27 12:16:47 -0500

achmad_fathoni gravatar image

Usually I use method of both tf function that only accept source_frame and target_frame. Recently I discover from amcl source code that there is another function overloading that accepts more argumentd like fixed_frame, source_time, target_time. I have read the documentation and still don't understand what is these function and its argument do.

Even more the code from amcl sets target_frame and source_frame value with same frame that is base_frame_id, why?

  // wait a little for the latest tf to become available
  tf_->waitForTransform(base_frame_id_, msg.header.stamp,
                       base_frame_id_, now,
                       odom_frame_id_, ros::Duration(0.5));
  tf_->lookupTransform(base_frame_id_, msg.header.stamp,
                       base_frame_id_, now,
                       odom_frame_id_, tx_odom);
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2018-07-27 12:59:43 -0500

tfoote gravatar image

updated 2018-07-27 12:59:57 -0500

You can read about it in the "Time Travel tutorials" c++, python

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: 2018-07-27 12:16:47 -0500

Seen: 340 times

Last updated: Jul 27 '18