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What is the reason for the existing of two data structures of pose with frame and time in ROS?

asked 2018-11-22 14:02:53 -0600

abrzozowski gravatar image

updated 2018-11-22 16:40:43 -0600

What is the reason for the existing of two data structures of pose with frame and time in ROS: geometry_msgs::PoseStamped and tf::Stamped<tf::pose>?

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One is a message used to store and transmit data so is compatible with message passing subsystem, serialisation, etc. The other is designed for processing information within ROS so includes methods to perform geometric operations.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-11-22 14:19:46 -0600 )edit

I know that it's current architecture design of the whole ROS. But you don't think, should it be made uniform (exists one of them)?

abrzozowski gravatar imageabrzozowski ( 2018-11-22 16:39:27 -0600 )edit

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answered 2018-11-23 05:17:04 -0600

gvdhoorn gravatar image

The reason for this separation is that it's actually recommended to keep your business logic separated from the ROS integration. If we start importing ROS domain concepts and data structures into all sorts of code, that code will be "glued" to ROS 1 (or 2). That is undesirable.

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@gvdhoorn I see. Well, that explains it. Thanks.

abrzozowski gravatar imageabrzozowski ( 2018-11-23 10:38:33 -0600 )edit

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Asked: 2018-11-22 14:02:53 -0600

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Last updated: Nov 22 '18