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Can a frame be both parent_id and child_id?

asked 2019-06-27 11:46:28 -0600

sajal gravatar image

I'm using odom as parent_id for base_link and child_frame_id for map tf in the respective launch files. Will it cause any issues in my tf tree?

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As long as your overall TF tree doesn't have any loops or multiple roots then this shouldn't be a problem at all.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-06-27 11:51:05 -0600 )edit

I would go even further: how would we ever create tree structures (or any linked structures) if frames can't be both parent and child?

gvdhoorn gravatar image gvdhoorn  ( 2019-06-27 12:20:37 -0600 )edit

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answered 2019-06-27 21:05:32 -0600

No, it won't cause any issues, that is exactly how hierarchy trees work.

Me myself am a father because I have children, but at the same time I am a child because I have a father.

Same for the example you describe.

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Asked: 2019-06-27 11:46:28 -0600

Seen: 253 times

Last updated: Jun 27 '19