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broadcasting transform tutorial question [closed]

asked 2013-08-14 15:15:34 -0500

rnunziata gravatar image

In looking at tutorial http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/TF why is it necessary to to have the transform broadcast for links in fixed relation in a loop. What is the reasoning behind rebroadcasting.

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Closed for the following reason the question is answered, right answer was accepted by rnunziata
close date 2013-08-16 11:23:42

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answered 2013-08-15 11:27:01 -0500

tfoote gravatar image

There are two reasons. First if you do not reassert that the transform is still valid it will not be assumed to be so. (Updated in tf2 to use latched publishers and not require republishing)

Secondly, if you do not rebroadcast the information new publishers coming online will not know about the previously published transforms. (tf2 static transforms use latched topics for publishing)

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thanks ...did conversion to tf2_ros for statics

rnunziata gravatar image rnunziata  ( 2013-08-15 14:34:01 -0500 )edit

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Asked: 2013-08-14 15:15:34 -0500

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Last updated: Aug 15 '13