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hi, i am new to ros, tf new i need to build a transformation, the parameter for the rotation and translation has already been known, but i wonder how to rotate the frame before translate it, will sendTransform() consider the order? Thank you very much!
You'll need two transforms instead of one, the first with the rotation and then a child one with the translation, and sendTransform them both.
Instead of parent -> child frame you'll have parent -> intermediate rotated child -> child frame, but any tf lookup can ignore the intermediate frame by looking up from parent to child and they'll see the combined proper rotation-then-translation transform.
Or you could do some matrix math to transform the translation in the rotated frame into the parent frame.
Asked: 2018-09-18 10:21:55 -0500
Seen: 602 times
Last updated: Sep 18 '18
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