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Hi I want to write a python node which transforms the lidar data of the turtlebot 3 from base_scan to base_link.
Unfortunately I haven't found any documentation or code snippets to do this with tf2 in ROS2.
Does anybody have an idea how to do this?
Your turtlebot's URDF should already have joints defined which implicitly define the base_scan -> base_link transformation. These should all be fixed joints so it will be a static transform. As long as you have a robot_state_publisher node using the URDF, that transformation will be published on /tf_static.
If you need to perform the frame conversion somewhere in your code to get the instantaneous positions in the base_link frame, you can look at tf2_ros's buffer_interface. But many applications (e.g. rviz) will be able to do these transformations automatically if the robot_state_publisher is running.
Asked: 2021-04-30 15:34:53 -0600
Seen: 462 times
Last updated: May 03 '21
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