Ask Your Question

Where to find ROS2 Dashing geometry2/tf2 documentation?

asked 2021-01-16 17:03:18 -0500

s0558009 gravatar image

I am trying to port this wheel encoder function to ROS2 Dashing using geometry2/tf2, but the only guides that I have found are either for the wrong ROS version or only explain command-line usage.

The documentation explaining a wrong version is calling tf2_ros::TransformBroadcaster without arguments:

static tf2_ros::TransformBroadcaster br;

But tf2_ros::TransformBroadcaster() for Dashing is expecting 3 arguments, as shown here:

  template<class NodeT, class AllocatorT = std::allocator<void>>
    NodeT && node,
    const rclcpp::QoS & qos = rclcpp::QoS(100),
    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options =

Where to find developer documentation for geometry2 on ROS2 Dashing?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2021-06-02 09:27:06 -0500

__spam__ gravatar image

You should look to the test files for an example implementation (, not in the class definition.

edit flag offensive delete link more


Do you have a specific solution?

jayess gravatar image jayess  ( 2021-06-02 22:50:28 -0500 )edit

A specific solution for what?

At the moment, there is no documentation for the tf2 package in ROS2. But the implementation is very similar to ROS1.

Some examples for using the tf2 broadcaster:

You don't need any arguments for the tf2_broadcaster.

__spam__ gravatar image __spam__  ( 2021-07-27 02:07:30 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2021-01-16 17:03:18 -0500

Seen: 109 times

Last updated: Jun 02 '21