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question to static transform publisher

asked 2019-01-28 04:12:05 -0500

S.Yildiz gravatar image

updated 2019-01-28 04:12:56 -0500

I'm working with google cartographer and I'm publishing a static transform: <node pkg="tf" ... ... ... args="0 0 0 0 0 0 1 world map 100" />

So my question is what is the difference if I set the args to 0 0 0 0 0 0 0 ?

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answered 2019-01-28 04:24:35 -0500

Delb gravatar image

updated 2019-01-28 04:30:07 -0500

Don't know exactly what will happen but you'ill probably get an error/warning about a quaternion issue. From the wiki :

static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period_in_ms

Publish a static coordinate transform to tf using an x/y/z offset in meters and quaternion. The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.

So that means you would set a quaternion to (0; 0; 0; 0) which is not a correct/existing value for a quaternion.

Note : Never hesitate to try by yourself at first, I'm sure if you did that you would have directly spotted the quaternion issue ;)

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Asked: 2019-01-28 04:12:05 -0500

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Last updated: Jan 28 '19