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tf::Stamped<tf::Pose> vs geometry_msgs::PoseStamped

asked 2021-11-17 02:21:50 -0500

What is the difference between tf::Stamped<tf::Pose> and geometry_msgs::PoseStamped types? When should we use one over the other?

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answered 2021-11-18 08:13:07 -0500

fergs gravatar image

Under the hood, the two messages have very similar fields. Generally, the TF message is only used when dealing with TF. The geometry_msgs messages are easier to visualize in tools like RVIZ, hence they would be the preferred message unless you are trying to put the message into the TF API.

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Asked: 2021-11-17 02:21:50 -0500

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Last updated: Nov 18 '21