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Transform camera coordinate to mobile base of turtlebot in Gazebo

asked 2020-08-13 05:52:21 -0500

kiko
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updated 2022-08-07 09:05:18 -0500

lucasw

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ROS kinetic comes with gazebo 7.0. The deault world of this gazebo is a turtlebot and some object. This turtlebot has a depth camera. When the depth camera see a point in the world, I want to let the robot move there. So I need to transform pixel coordinate to camera coordinate, then camera coordinate to mobile base. The first part (pixel to camera) is already done. Now I want to transform from camera coordinate to the the mobile base of my turtlebot (base_link I think). How can I do that? I read that static_transform_publisher can do this, but I don't know how. Thanks in advance.

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answered 2020-08-13 12:29:30 -0500

Tahir M.
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Well first you can look at the tf tree by running the following command:

rosrun tf view_frames

Than you can use lookupTransform from tf here. This will give you the stamped transform.

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Asked: 2020-08-13 05:52:21 -0500

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Transform camera coordinate to mobile base of turtlebot in Gazebo