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remapping tf frames

asked 2011-02-20 23:52:02 -0500

mkillpack gravatar image

updated 2016-10-24 08:59:41 -0500

ngrennan gravatar image

I'm wondering if it is possible to remap tf frames from inside a launch file (or other similar means) in the same way it is possible to remap topic names of published topics? My use case is that I have two Kinects between which I would like to define a transform. However, the base frame_id for the kinect is defined in the openni_driver.cpp file. This means that when I run two Kinects they broadcast the same tf frame of /openni_rgb_optical_frame. Any suggestions besides modifying the driver would be very much appreciated.

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answered 2011-02-21 02:48:14 -0500

updated 2011-02-21 02:51:21 -0500

Not possible with the current driver, and it turns out there is already a ticket on this: #4688.

It seems like what should be done is to implement the (somewhat obscure, IMO) ~tf_prefix parameter (which if I understand correctly, should always be implemented by producers of tf data.. maybe someone can comment). So in my case I set tf_prefix to, e.g., "pelican1", and the frame_id's of the published point cloud and images are /pelican1/<original_frame_id>.

The rewrite branch of the driver appears to have the capability to set the frame names directly via a parameter which is even more flexible than tf_prefix, however it seems that tf_prefix should still be implemented.

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Asked: 2011-02-20 23:52:02 -0500

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Last updated: Feb 21 '11