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static transform publisher - launch file [closed]

asked 2013-03-04 21:50:22 -0500

JaRu gravatar image

updated 2016-10-24 09:10:06 -0500

ngrennan gravatar image


I have different frames which I create with the static transform publisher in a launch file, for example:

<launch> <node pkg="tf" type="static_transform_publisher" name="kinect_base_link5" args="0 0 0 0 1.57 0 /frame1 /frame2 100"/>


I work with a kinect and get from the kinect_aux node the actuel angle from the tilted position from the kinect back. (cur_tilt_angle) So my question is, is it possible that instead I write a fixed value like 1.57, I get this cur_tilt_angle in the launch file?

Thank you for help.

(I use ROS electric.)

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Closed for the following reason the question is answered, right answer was accepted by Miquel Massot
close date 2015-06-25 02:50:39.467756

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answered 2013-03-04 22:02:02 -0500

Miquel Massot gravatar image

You will need to write a node that listens to that particular topic and publishes your required tf. With a static transform publisher only fixed transforms can be published.

If it is not a topic but a parameter stored in the parameter server, then yes, you can use that parameter and load it to the static transform publisher. Take a look here.

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Ok, thank you.

JaRu gravatar image JaRu  ( 2013-03-04 22:10:04 -0500 )edit

Please, accept the answer if that is the correct one

Victor_ocv2 gravatar image Victor_ocv2  ( 2013-03-04 22:16:58 -0500 )edit

@Miquel Massot@JaRu can you please refer to me an example code where "write a node that listens to that particular topic and publishes your required tf" is implemented.

Gudjohnson gravatar image Gudjohnson  ( 2013-08-07 23:50:36 -0500 )edit

@Gudjohnson I would take a look at the "Writing a tf broadcaster (C++)" tutorial example, here:

kwiesz91 gravatar image kwiesz91  ( 2015-08-03 03:09:42 -0500 )edit

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Asked: 2013-03-04 21:50:22 -0500

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Last updated: Mar 04 '13