ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

Google Cartographer TF

asked 2018-09-11 03:17:54 -0500

S.Yildiz gravatar image

I'm reading the documentation and I'm unsure how to make the TF. Am I understanding this right? "Note that Cartographer’s ROS integration uses tf2, thus all frame IDs are expected to contain only a frame name (lower-case with underscores) and no prefix or slashes. See REP 105 for commonly used coordinate frames." That I have to implement tf2 or is the cartographer built with tf2? The link: https://google-cartographer-ros.readt...

I have a 3d RGB camera and I did it like this:

edit retag flag offensive close merge delete


Is this just a general question or are you running into some problems/errors?

Choco93 gravatar image Choco93  ( 2018-09-11 04:36:37 -0500 )edit

1 Answer

Sort by » oldest newest most voted

answered 2018-09-12 02:15:10 -0500

ashwath1993 gravatar image

Cartographer uses TF2. The idea is that now the frame name should follow the new naming convention.

i.e frame_id = "odom" (this is tf2 standard)

instead of

frame_id = "/odom" (this is tf)

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



Asked: 2018-09-11 03:17:54 -0500

Seen: 686 times

Last updated: Sep 12 '18