I have a
.bag which contains recorded messages on topics
/topic2. The messages have
frame_id, so both of the messages associated with these topics are stamped, i.e. they have a header.
.bag file also contains recorded messages on the topic
/tf (of type
tf2_msgs/TFMessage). These transform messages have the
frame_id set to
/world and the
child_frame_id set to the local frames associated with the IMUs from which the messages are being sent over respectively topic
Now, I need the messages sent over the
/topic2 to be converted to their corresponding local frame (i.e. the child frame or
child_frame_id ) from the (fixed) frame
/world. Since both the
/tf messages and the messages of the topics
/topic2 are stamped, I thought we could do this without much trouble, but I'm not sure since I'm very new to ROS.
I've looked around for various solutions, but I didn't find an exact solution for my problem, maybe because I didn't recognize it as such, given my limited knowledge of ROS, as I said.
I would appreciate a step by step description of the approach and, if you don't want to write a full solution with code (preferably in Python), at least point me to the similar examples. Please, do not suggest me to read the tutorials of
/tf, I've partially done it, and it didn't help much.