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What's the best way to find the inverse of a geometry_msgs/Pose message?

Or in general to perform any other matrix manipulations. Does ROS provide a library or functions to do so? And if not, which is the default method used by the ROS community?


Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2015-03-17

Post score: 0

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If with "inverse of pose" you mean something that deals with transforms and their inverses, then you're probably looking for the tf system in ROS.

If you're just starting with this, tf2 might actually be better, as it is the successor to tf.

See the various tutorials for more info on how to use both.


Originally posted by gvdhoorn with karma: 86574 on 2015-03-17

This answer was ACCEPTED on the original site

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Original comments

Comment by 2ROS0 on 2015-03-17:
The "pose" in my case represents a child coordinate frame (frame B) in parent coordinates (frame A). I want to find out the inverse of that (A in coordinates of B).

Comment by Mehdi. on 2022-06-30:
Pose and Transform are equivalent. And it makes sense to avoid tf when needing the inverse of a pose sometimes.

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