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tf fixed transforms with timestamps

Hello ROS users,

I'm slightly confused about how TF handles transforms.

I'm using the tf::TransformBroadcaster class in a node called tf_broadcaster_node for publishing transforms to TF, resulting in the following TF tree:

image description

These frames have fixed transforms (only rotations), represented below as RPY(in degrees) :

  • base_link --> camera_frame : Rotation (50, 0, -90)

  • camera_frame --> bundler_camera_frame : Rotation is (0, 180, 0)

I also have a tf_listener_node which is used to query and print these transforms from TF. My expectation was that the fixed-value transforms will be printed exactly as defined above. However, I was surprised to note that they were different:

image description

Question : Why do the fixed transform values differ from their definitions?

I'd appreciate any assistance in helping me understand TF better. Thanks!

tf fixed transforms with timestamps

Hello ROS users,

I'm slightly confused about how TF handles transforms.

I'm using the tf::TransformBroadcaster class in a node called tf_broadcaster_node for publishing transforms to TF, resulting in the following TF tree:

image description

These frames have fixed transforms (only rotations), represented below as RPY(in degrees) :

  • base_link --> camera_frame : Rotation (50, 0, -90)

  • camera_frame --> bundler_camera_frame : Rotation is (0, 180, 0)

I also have a tf_listener_node which is used to query and print these transforms from TF. My expectation was that the fixed-value transforms will be printed exactly as defined above. However, I was surprised to note that they were different:

image description

Question : Why do the fixed transform values differ from their definitions?

I'd appreciate any assistance in helping me understand TF better. Thanks!

tf fixed transforms with timestampstransforms

Hello ROS users,

I'm slightly confused about how TF handles transforms.

I'm using the tf::TransformBroadcaster class in a node called tf_broadcaster_node for publishing transforms to TF, resulting in the following TF tree:

image description

These frames have fixed transforms (only rotations), represented below as RPY(in degrees) :

  • base_link --> camera_frame : Rotation (50, (-90, 0, -90)50)

  • camera_frame --> bundler_camera_frame : Rotation is (0, 180, 0)

I also have a tf_listener_node which is used to query and print these transforms from TF. My expectation was that the fixed-value transforms will be printed exactly as defined above. However, I was surprised to note that they were different:

image description

Question : Why do the fixed transform values differ from their definitions?

I'd appreciate any assistance in helping me understand TF better. Thanks!