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How does tf2_ros::BufferInterface::transform work?

asked 2020-11-02 14:40:05 -0500

aaa gravatar image

updated 2022-05-23 09:19:00 -0500

lucasw gravatar image

Hello, If I have a frame called "Frame1" and an object called "Object1" inside the "world" frame and I need to express the position of "Object1" with respect to "Frame1". To do that I am using the following method:

tf2_ros::Buffer buffer_;
buffer_.transform(Object1's position with respect to the "world", output, "Frame1" )

A publisher node is continuously publishing the Object1's position with respect to the "world" through a topic and a subscriber node is receiving the streamed messages, but the system cannot know that this position is with respect to the "world". A tf2_ros::TransformBroadcaster is broadcasting the transforms between the "world" and "Frame1". So, how does the transform method work? Does it automatically assume that the streamed position messages are with respect to the "world" and performs the necessary calculation based on this assumption?

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answered 2020-11-03 19:48:31 -0500

tfoote gravatar image

Please read through the documentation for tf2:

There's a paper on it:

And several tutorials: which should help you too.

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Asked: 2020-11-02 14:40:05 -0500

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Last updated: Nov 03 '20