Questions tagged [static-transform-publisher]

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How can I calculate the static transform between 2 coordinate frames?

I have a list of poses that I'm trying to publish after converting into the 'map' coordinate frame of reference. I understand that this is done with the help of tf/static_transform_publisher, however ...
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static_transform_publisher doesn't latch on ROS2

On Noetic, I can do the following: ...
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Timeout and tf Error Before Running Costmap

Hello, I am trying to launch a navigation stack on multiple robots, so they can navigate autonomously in gazebo. I have cloned the following turtlebot3 githubs to access models, descriptions, costmaps,...
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static_transform_publisher: tf vs tf2_ros

When adding a static_transform_publisher to the launch file, we have two options: Version1: Old style with tf: ...
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[ROS2 Foxy] loading static transform broadcaster arguments from config file

In one of my launch files I have a number of tf2 static transform publisher calls like ...
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How do I broadcast multiple static transforms from different objects in the same process?

As per #310103 I need to broadcast some transforms for a pick&place application. Specifically, I (think I) need: 2 static transforms for my robotic arm, to connect its base_link to the world (...
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How to add static transform with right timestamp to rosbag?

I saw this question and tried the first answer. My launch file looks like this: ...
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Publishing frame using launch file/C++

I'm trying to publish merged point cloud from multiple Kinects as one topic. In order to align clouds I applied static_transform_publisher, which merged all the clouds into one frame ("kinect&...
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Is there an easy way to publish a static transform between leaves of two tf2 trees?

This is similar to the question: https://answers.ros.org/question/58639/what-is-the-correct-way-to-connect-two-tf-trees/ That was five years ago. Can we do better today? Given a tree: ...
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order of translation vs rotation in static_transform_publisher

I am playing a rosbag containing pointclouds on kinetic. I need to set the tf so that it is at a decent location to the Panda robot for some task. The following is the relevant line from my launch ...
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How to reflect (or mirror) a point cloud in rviz?

Hello, I have successfully set-up ros so that a point cloud is sent to rviz every 100ms. It looks great, however, the visualization is mirrored about the z-y axis. I have already tried using ...
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static_transform_publisher and robot_state_publisher

Hello, I am a bit confused about the static_transform_publisher and the robot_state_publisher (or at least I think I am). So we ...
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Difference in CPU% between static_transform_publisher and tf::TransformBroadcaster?

Hi everyone! When broadcasting tfs, is there a difference between running static_transform_publisher or broadcasting via tf::TransformBroadcaster in terms of computational resources? When directly ...
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transform (x,y,z) coordinate from kinect to /map frame using tf

Hi, I'm tracking an object using a kinect and trying to publish the tf transform of that object in a "/map frame. I'm able to return the object's x, y and depth data using OpenCV. However, I'm ...
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Adding Collision Object in MoveIt

Hi, I have written a node to add a wall as a collision object in moveit. This is my node : ...
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EKF rejects timestamp more than the cache length earlier than newest transform cache

Hi, Having a px4flow optical flow sensor, I want to convert its opt_flow_rad message into a TwistWithCovarianceStamped, which I can use in my EKF localization node. However, the ekf node doesn't ...
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How to fuse IMU & visual odometry using robot_localization

Hello, I am doing a project that is combining the data from visual odometry (camera ASUS Xtion Pro live) with IMU (SparkFun razor). I want to combine some sources of information to have the best ...
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Dynamically adding a static transformation to tf

I have written an object in C++ which contains position and orientation information in member variables. These variables are not likely to change over the lifetime of the object. I am using these ...
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static transformation publisher

I want to do a static transformation the actual frame is in x forward y right z up the new frame if x forward y left and z up I want to do transformation from the new to the actual frame using the ...
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slam_gmapping odometry tf already published

Hey, I'm running my robot with a laser scanner and wheel odometry and the navigation stack. I already built a map from logged data and now I want to build it online. So I start my launch file for my ...
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Error tf2_ros StaticTransformBroadcaster API in Python

Update: In an attempt to get around losing the ability to pub latch transforms in the API in python I have tried doing the following which does not seem to work. Anyone have a way to do this? And in ...
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nodes not working in launch file

Hello guys, I have the problem that some nodes are not working from launch file. Specifically the tf static_transform_publisher and also the rosbag record. I do not get any error but they are not ...
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Why do I need the static transform if my urdf is properly defined?

Hi, As the questions says, I do not understand why do we need the static_transform_publisher when the urdf model of the robot with all sensors is properly defined in the urdf file. Doesn't loading the ...
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tf static_transform_publisher breaks laser

I am trying to use slam gmapping on a robulab robot with no success. One of the problems is that I have the laser topic working apparently fine (in RViz the points cloud changes as I move the robot), ...
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TF2 - static_transform_publisher - Extrapolation into the future

Hello, I have a couple of static_transform_publishers from the TF2 package running. How is it possible that a node complains about extrapolating into the future, when it tries to lookup a ...
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static_transform_publisher base_link base_laser

hi everyone Is this line enough in order to use tf package for set a fixed relation between base_link and base_laser frames in my launch file? ...
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Static Transforms - Where is the problem in my setup?

Hey guys, I am trying to set up a test scenario for calibrating cameras with markes. Therefore, I have 2 cameras and 2 markers. Each camera can see both markers. But when I try to simulate this ...
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ros::Time::now() always return wall time in c++

Hey guys, I have a very frustrating problem using Ros Hydro on ubuntu 12.04. I have a Gazebo Simulation posting telemetry data and I use this in a node to create a tf-tree for the simulation. Now I ...
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Is it possible to manually rotate point clouds in RViz?

I've been working with some Kinects in Rviz and recently found the ability to use static_transform_publisher to create the ...
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Failed to rosrun static tf publisher

** ...
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tf tree for viso2

I'm trying to set up a tf tree to use with viso2 to reconstruct point clouds, but I'm running into a lot of issues. Right now I'm just trying to set up a chain of dummy static transforms in order to ...
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Hokuyo Node Frame ID problem for Slam

Hello, I'm trying to do slam with hector_mapping. I have setted up all the necessary steps. All the transforms have been made. But when I run the rviz it seems there is no transform between base_link ...
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static transform publisher - launch file

Hi. I have different frames which I create with the static transform publisher in a launch file, for example: I work with a kinect and get from the kinect_aux node the actuel angle from the ...
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Tf from optical frame to odometry frame

I am acquiring point cloud and image data from Kinect sensor. The coordinate frame for the data acquired is:- X axis--> right Y axis--> downwards Z axis--> forward and the odometry(standard /...
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Rotation in static transform publisher

This is a basic question. I'm a little bit confused how should I assign one of my last three argument below in order to flip or rotate by 180 degree of the z-axis of the parent frame while the other ...
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Convention for value in static transform publisher node

I would like to check my understanding, whether it is right or wrong regarding the parameter value when using static_transform_publisher node tutorial. For example, like below: ...
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use a single static_transform_publisher for multiple sensors

Hello everyone, I just started using ros to build a sonar sensor array composed of 16 sensors. I was wondering if there is a way to use a single static_transform_publisher to broadcast all the sensors ...
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static_transform_publisher negative average delay

When I use static_transform_publisher to provide a static transform, the average delay is negative. My questions are: 1) Is this a problem? 2) If so, is there a reason it's doing this, and how do I ...
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