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tf to tf2 SendTransform type error

asked 2013-10-24 17:30:29 -0500

MobileWill
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updated 2014-01-28 17:18:20 -0500

ngrennan
1 ●1 ●1

I am working on some forked code that is setup for tf and on my BeagleBone Black I only have tf2. I have most of the code working but it is erroring out on sendtransform with

TypeError: sendTransform() takes exactly 2 arguments (6 given)

I am not sure what to change to the new format. I haven't found a way to get the recipe to cross compile tf. But in the long run it would be better to convert over.

I am working on base_controller.py on my github account FriedCircuits\Ros_Arduino_bridge (can't post links yet)

Any help to convert it to tf2 would be great. I haven working on this for weeks on the BBB and I am pretty close to having something functional.

Thanks!

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answered 2013-10-29 14:56:10 -0500

ssafarik
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It looks like it now takes a TransformStamped() message, rather than individual args. The docs & tutorials seem to be older than the hydro code. For example:

transform = TransformStamped(header=Header(stamp=rospy.Time.now(), frame_id="parent"),
                             transform=Transform(translation=Vector3(x,y,z),
                                                 rotation=Quaternion(qx,qy,qz,qw)),
                             child_frame_id="child"
                            )
self.tfbx.sendTransform(transform)

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Asked: 2013-10-24 17:30:29 -0500

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Last updated: Oct 29 '13

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tf to tf2 SendTransform type error