constructiverealities's profile - activity

Version: ROS Kinetic (ubuntu 16.04)

I believe that I'm pinched in a narrow use-case crack between TF and TF2 and the differences between lookupTwist (which has duration argument for averaging) and what looks like a bunch of manual calculation to achieve that same result using TF2s lookup_transform, which obviously does not provide such functionality.

I find myself dependent on the averaging functionality, which is really useful generally for robotics. Some code changes in separate but related nodes have exposed TF's apparent inability to see all TF Static Frames that were established prior to (a given) node's initialization. This inability to see previously create static TF is preventing me from resolving what should be a trivial refactor to support the externally driven changes.... looking to find a solution

Tl;DR / I need solution(s) for at least of one of the follwing:

• For TF to be able to see all static transforms (including those created before the nodes initializes)
• For TF2 to already have this (very useful) lookuptwist functionality available in RosPy; and i just don't know where it is
• Pseudo code for what is needed to write a bespoke function to achieve this averaging function with TF2in a 3d space.

I see on the TF2 tutorial page an example for a new publisher to push a new Twist from another frame at the same point in time.

but i were to do this i would need to go get two transforms for the same frame at two points in time and them manually average a new Twist value. the turtlebot example is incomplete for 3d...

Help resolving the issues with either approach appreciated.

Thanks @ tfoote. If I'm to implement this (as i would like to use tf2). how to I use/access the functions on the trans

Thanks @ tfoote. If I'm to implement this (as i would like to use tf2). how to I use/access the functions on the trans

TF vs TF2 (lookupTwist vs lookup_transform) Version: ROS Kinetic (ubuntu 16.04) I believe that I'm pinched in a narrow

^ I edited to link to the related question

@tfoote So this is a bit older, but I'm running into an Issue with TF2 in that I can't find a substitute function for T

@tfoote So this is a bit older, but I'm running into an Issue with TF2 in that I can't find a substitute function for T

TF vs TF2 (lookupTwist vs lookup_transform) Version: ROS Kinetic (ubuntu 16.04) I believe that I'm pinched in a narrow

TF vs TF2 (lookupTwist vs lookup_transform) Version: ROS Kinetic (ubuntu 16.04) I believe that I'm pinched in a narrow

Convert OpenVR pose 4x3 matrix to ROS style What is the procedural logic to perform Y-up to Z-up axis conversion on a ri