Where can I get TransformStamped values?
I am quite new to ROS and I am creating a new frame "map" as I am using mapserver to publish map and also creating a tf2 from map to odom, which is required for the localization. So the first step, is to create a TransformStamped object with details filled in. The header.frameid and header.childid is obivious, map and odom, but where can I obtain the transform values? When I have included amcl package and r`un rosrun tf tfecho map odom` I got these results and I wonder where can I get them?:
At time 13.558
- Translation: [0.013, -0.002, 0.000]
- Rotation: in Quaternion [-0.000, 0.000, 0.000, 1.000]
in RPY (radian) [-0.000, 0.000, 0.000]
in RPY (degree) [-0.000, 0.001, 0.010]
Asked by stevemartin on 2018-10-24 04:24:58 UTC
Answers
Well, actually it is the localization node (i.e. amcl
, for example) which produces the transfrom from map
to odom
. So this is where those values come from.
If you want to do localization yourself, your code needs to produce those values...
Asked by mgruhler on 2018-10-25 01:42:26 UTC
Comments
see related: #q306575
Asked by mgruhler on 2018-10-25 01:46:48 UTC
@stevemartin: you may want to review REP-105. That should make the relationship between all these frames a little clearer.
@mgruhler is correct: those values are not "special", they are the result of localisation of your robot in the
map
frame.Asked by gvdhoorn on 2018-10-25 02:44:51 UTC