Where is all the frames information

asked 2018-11-21 00:13:17 -0500

AutoCar
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I am using a robot system and tying to understand the tf. When I open rviz, I saw the following frames available to be selected for Fixed Frame: odom, laser, base_link, base_footpinrt, base_imu_link. However, when I call

rostopic echo tf

I saw only the transformation from odom to base_link.

I am wondering where the transformations between other components, for example from base_link to lase, is defined?

answered 2018-11-21 00:59:29 -0500

mgruhler

12390 ●32 ●193 ●173 https://github.com/mgruhler

Typically, those are static transforms, i.e. they don't change over time.

This is why they are published, most often using either a URDF in combination with the robot_state_publisher or a static_transform_publisher.

Typically, on tf, you only find the dynamic transforms, not the static ones...

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For reference the static transforms are published on the /tf_static topic.

ahendrix ( 2018-11-21 01:15:55 -0500 )edit

My tf_static has base_link to base_footprint only. It does not have laser. Where can I find the transformation from odom to laser then?

AutoCar ( 2018-11-21 01:20:53 -0500 )edit

Sorry, I was wrong, I did see base_link to laser in tf_static...

AutoCar ( 2018-11-21 01:24:04 -0500 )edit

thanks @ahendrix for adding this. I wasn't sure if all static tfs are published on tf_static and did not find anything when briefly checking out the source code...

mgruhler ( 2018-11-21 01:51:02 -0500 )edit

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