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Transform angular velocity with tf2

asked 2018-09-05 20:44:26 -0600

okalachev gravatar image

updated 2018-09-06 01:27:53 -0600

gvdhoorn gravatar image

Is it possible to transform angular velocity (x, y, z) or a TwistStamped with TF2 (in C++?)

tf_buffer.transform(velo1, velo2, "target_frame", ros::Duration(0)) compiles, but falls in runtime, with tf2::getFrameId symbol not found. I debugged, and found out, that tf2_geometry_msgs.h file lacks getFrameId with TwistStamped argument.

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answered 2019-09-09 12:55:29 -0600

tfoote gravatar image

tf2 does not support transforming velocities. There is a former transformTwist method. But to transform velocities there are several extra reference frames that need to be considered when transforming it. To that end the Twist datatype doesn't have enough information. And the tf data doesn't have velocities built in so it requires discrete differentiation with a parameterized time period which is another parameter that's also application specific and needs to be tuned.

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Asked: 2018-09-05 20:44:26 -0600

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Last updated: Sep 09 '19