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Okay I now need help understanding the role of transforms in the navigation stack. I have a simple transform publisher up and running but the tutorials for the navigation library do not explain well what exactly is to be used for and where it is being published too.
Basically it's up to you how you name your frames as everything is configurable. There are some standard names for frames that are usually set as defaults: http://www.ros.org/reps/rep-0105.html That document also explains the semantics of those frames.
When you publish a new frame, you have to specify how it relates to an existing frame, by giving an offset and a quaternion rotation. sentTransform takes a StampedTransform as an argument. The StampedTransform consists of a timestamp, a transform, a frame, and a child frame. The transform tells you how to get from the frame to the child frame. This is the information that TF needs to do its job.
I understand how to name frames and how to broadcast and receive them, the part I am really confused about is where it says in the navigation tutorials is that I need the publishing the relationships between frames via transforms. Is done automatically when I publish the transform or is there something else I have to do.
Asked: 2013-09-17 03:35:01 -0500
Seen: 960 times
Last updated: Sep 17 '13
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