Transformation of TransformStamped

asked 2019-02-28 08:17:25 -0500

Jendker gravatar image

Hello everyone, this is my first post here! I'm a beginner.

I wanted to ask how to do the transform of the TransformStamped? I am creating the transform broadcaster, I am calculating the translation and rotation and afterwards would like to make the final translation. Is there a neat function to do it without broadcasting first the intermediate frame which I would use as reference for translation? Or do I need to do it by hand by rotating the final translation?

I hope the question is clear, please let me specify it if it's not.

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What I would specifically need is the possibility to make the transformations on the TransformStamped object itself to allow the transformation chaining. Is that possible?

Jendker gravatar image Jendker  ( 2019-02-28 08:26:03 -0500 )edit

I am working right now a bit more with tf2_ros and it seems to have many functionality missing, it is for example difficult to get the transformation matrix from TransformStamped. Am I right? C++ seems to be much better for transformation operations.

Jendker gravatar image Jendker  ( 2019-02-28 09:55:16 -0500 )edit