Questions tagged [tf2]

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Is it possible to do uncertainty propagation with TF2? If not what can I use?

I'm interested in applying a sequence of linear transformations to a gaussian probability vector in TF2. As far as I understand this is a pretty operation due to the gaussian nature and I see TF2 has ...
FourierFlux's user avatar
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How to lookup most recent tf2 transform regardless of age

I want a callback to respond to an update between any of the tf2 transforms between frame A and B on the /tf topic. It should use the most recent transform available between every frame. Some frames ...
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There is no kld folder in humble/include, but tf2_geometry_msgs.hpp includes "kdl/frames.hpp". What should I do?

I use tf2 in my Humble ROS node. I get the following error message when I build it. ...
yazou's user avatar
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How to add namespace to TF2?

When launching nodes which use TF2, the namespace doesn't appear to show up under the TF2 messages meaning you can't differentiate between robots/sensors. How do I solve this?
FourierFlux's user avatar
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Confusion on TF2 frame name conventions, base_link vs odom?

I was reading about TF2 frame name conventions for mobile robots: https://www.ros.org/reps/rep-0105.html and I'm confused on how base_link and odom frames are related, odom gives the location of the ...
FourierFlux's user avatar
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Does a shorter tf2 buffer lead to faster lookup times?

I'm curious if/how much a shorter tf2 buffer length improves performance. Does it increase the tf lookup speed? How much does it decrease the memory footprint of the program? This is an optional ...
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How to calibrate RGBD camera position under ROS2?

I have a RealSense RGBD camera mounted on a robot's end-effector and would like to calibrate the camera's position relative to said end-effector under ROS2. I am using the moveit hand-eye calibration ...
Xilef11's user avatar
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Multi-robots control in ROS2 Humble

I am trying to spawn two robots with the goal of controlling them independently. I have made changes to the empty world launch file in turtlebot3_gazebo package to try and spawn two robots, for now I ...
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fatal error: tf2_geometry_msgs/tf2_geometry_msgs.h: No such file or directory

Ubuntu 22.04, ROS2 Humble I have a blickfield lidar and they provide ROS2 foxy support. I have downloaded the blickfield_ros2_driver from their website and created a repository. Aim: I want to get it ...
ASH's user avatar
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What is the frame name in a TF2 transform?

Often in literature and tutorials the concept of a "Frame" is used. In TF2 a frame requires both a parent and a child name. So when someone refers to "frame" are they referring to ...
FourierFlux's user avatar
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Navigation in Local Frame (odom frame)

I am working on a control related task - a docking procedure for an AMR to be specific. That task requires my robot's pose information throughout the planned path as it moves to the goal/docking ...
Alperen Keser's user avatar
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Duplicate tf messages with robot_state_publisher and coded tfs

From what I understand, robot_state_publisher reads the urdf and publishes the default frames to the ...
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How to transform frames so axis align

I have the location of two sensors, S_1 and S_2 with frames attached to each and I have the frame Transformation that gives S_2 location and orientation with respect to S_1. Additionally I have a ...
FourierFlux's user avatar
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Transform vision msgs array from sensor coordinates to world coordinates

I want to transform a detectionarray3d msgs from sensor coordinates to world coordinates. I know the transform function of the tf2 library, which should fulfill this step. ...
Hem92j's user avatar
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Error transforming from frame 'base_link' to frame 'odom'

I'm trying to write my odometry for a robot. I started by publishing tf odom and I got an error. It is worth noting that when I run rviz with joint_state_publisher without gazebo, I can make odom a ...
Femidis's user avatar
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1 answer
184 views

Problems on converting tf2::Transform to geometry_msgs::msg::Transform

I'm trying to convert tf2::Transform to geometry_msgs::msg::Transform with help of ...
Bob's user avatar
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A mismatch between tf trees presented in Rviz2 and tf2_tools view_frames

I spawned a robot model into gazebo classic, while using ROS2 Humble. The robot spawns and moves, its all good on this side. But when I wish to view the tf tree on Rviz2 I get status warnings and some ...
oferb's user avatar
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Inconsistencies in Transform Definition between tf2 and ROS?

According to this definition of a homogeneous transformation matrix (pictured below), a transform consists of a rotation from source to destination and the location of the source origin relative to ...
Raika Dial's user avatar
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1 answer
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Correct use of transformations while using coordinate frames

I would like to understand better the transformations between the frames established in REP-105. I did read the specification but I think I might be misunderstanding something. Let me bring one ...
ÁngeLoGa's user avatar
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Camera pose estimation problem

I am creating a Pick and Place program and need help with pose estimation. I am broadcasting on RViz the coordinates based on my YOLO detection and camera. Below is my broadcasting node. ...
emanuel rodrigues's user avatar
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How does anything listen to tf2? What are the transform_listener_impl nodes?

I have been trying to understand various robotic setups and I have noticed that RViz works even though it has absolutely no connection to TF - as seen in node subscriptions in ...
Dominik's user avatar
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Why is tf2::doTransform eating CPU but pcl_ros::TransformPointCloud not?

I want to perform a coordinate frame transformation and found recently tf2_sensor_msgs as a way to apply the transformation without the need to convert ...
ignacio's user avatar
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2 answers
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Transform PointCloud message

I am receiving a sensor_msgs::msg::PointCloud (base_link frame) in my callback. I want to transform this PointCloud to the camera frame, so that I can do a ...
renan's user avatar
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The Rotation of an IMU is no propagated to other link in RVIZ

I'm trying to make an stl file rotate into Rviz2 following the quaternion given by an IMU. My TFtree is described as in the following picture. I publish my data from the IMU in the same file as the ...
Melmarkt's user avatar
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Do i need an odometry input for robot_localization with only IMU data?

I am now working to receive data from an IMU and then publish the transformation for SLAM with Lidar, using the robot_localization package for filter, and i will fuse this IMU with encoder later. I ...
nhuvaynhe's user avatar
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diff_drive changes the wheel's parent link

So this is kind of a wierd issue. I have a two-wheeled robot with a caster and i'm using diff_drive to test it in gazebo with ros2-galactic. my tf tree is a little different where my base_link is not ...
Benny's user avatar
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How is TF2 supposed to be set up for an Ackerman steering robot with Navigation2

Hello, I am currently working with a physical, ackermann steering robot (car like). Right now my TF is setup with base_link on the ground between the two rear wheels. However, I notice strange ...
Timothée's user avatar
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1 answer
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Robot localization: Odom tf is far offset from Map tf

Hello all, Recently, I am using the robot-localization package to fuse all my sensors and does the localization for my robot. And as I was testing the localization result outdoors, I found something ...
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25 views

Inaccurate result from tf2 transform

Platform: ubuntu 20.02 ROS2: Galactic, installed through 'apt' ROS environment : ROS_VERSION=2 ROS_PYTHON_VERSION=3 ROS_LOCALHOST_ONLY=0 ROS_DISTRO=galactic Problem: Currently, I have a static tf2 ...
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1 answer
23 views

Inverted Initial Localization in Nav2 for Ackermann Vehicle - Front and Rear Ends Misaligned in RViz

While implementing SLAM with Nav2 on my Ackermann-style truck robot, I've run into an issue where the initial localization starts with my vehicle facing in the opposite direction (x orientation ...
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1 answer
463 views

[ROS2 FOXY] : Could not transform base_link to map because "map" passed to lookupTransform argument target_frame does not exist

Hello , i am trying to do the transform between 2 frames (base_link and map) using the tf2_ros package, but it seems there is an issue somewhere. Both of the frames (base_link and map) do exist , i ...
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1 answer
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Dynamic TF Publishing Discrepancy Between Foxy and Humble

I have posted an issue on GitHub; however, no one responds to it. So I start to wonder if it is my own mistake. It begins from one day when I transform a piece of ROS foxy code into the Humble ...
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1 answer
290 views

Localization issue: Waiting for Transform odom -> base_link

Hi I am doing this nav2 tutorial https://navigation.ros.org/setup_guides/odom/setup_odom.html#odometry-introduction However instead of a differential drive robot, I am using a car-like robot (...
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1 answer
10 views

Does tf2 rely on current time?

We recorded some rosbags and now we want to play them for simulation. But Ros2 Foxy doesn't have a feature like Ros1's use_sim_time and we can't switch to a newer ...
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1 answer
51 views

transform error in ekf_localization

I am having issues with my transforms it appears. This is my first time running the ekf_localization node. Launch file and errors below. My tf tree only shows odom-> base link. The static ...
Chase's user avatar
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1 answer
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lookupTransform and tf2_echo shows different results

Hi, I am writing code for transformations using apriltag. tf_buffer_->lookupTransform(tag_frame_, camera_frame_, tf2::TimePointZero); gives different ...
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1 answer
47 views

tf not found using python in ros noetic

Hi I have followed the tutorial here to find a transformation between 2 frames using Python in ROS Noetic, but I can't get it even though I'm sure the tf exists because I can find it in the terminal. ...
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2 answers
68 views

tf2 view_frames under namespace

Hi community, env: ROS2 Galactic how can I view the frames of a name-spaced simulation ? the command ros2 run tf2_tools view_frames does not work when I set a namespace. Thanks Originally posted by ...
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1 answer
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TF2 throws rclcpp::exceptions::RCLInvalidROSArgsError when Pytorch libraries are linked

I've been trying to integrate pytorch into my ROS 2 galactic node but have encountered an issue. When the executable gets to this line in my code: ...
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1 answer
6 views

How do I get a tf from specific sensor?

I'm doing a visual servoing aplication. I want a robotic arm to reach a desired position given by camera data. I have 2 cameras in my setup to detect a single apriltag tag. The first camera is fixed ...
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1 answer
280 views

Unable to create a TF2 Broadcaster from odom to base_link

Hi everyone! I'm having troubles creating my own TF2 broadcaster to publish a tf from odom to base_link. I'm using a .sdf file in gazebo ignition fortress and not an urdf so i cant use ...
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2 answers
115 views

tf2.LookupException: "map" passed to lookupTransform argument source_frame does not exist

I am having an issue where for some reason my system says map frame does not exist. Here is the code here: ...
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1 answer
407 views

Undefined reference to "tf2::fromMsg()"

I have saw link and link text , but both cant solve my problem. The error msg is follow e(geometry_msgs::Pose_std::allocator<void >)': /home/bot/chh_ros_ws/src/car_navigation/navigation/...
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1 answer
49 views

laserscan data rotate with the robot rotation

Hey everyone ! I'm building a diff drive robot using Ros2 Galactic , SLAM toolbox package and to be used in nav2 framework. I wrote the needed node for /odom to publish odometry msg, as follow in the ...
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1 answer
364 views

ros2 lookupTransform() to get latest transform

Hello all, In foxy tf2_ros::Buffer::lookupTransform(), ...
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1 answer
15 views

Timed out waiting for transform from robot1/base_footprint to map ... tf error: canTransform: target_frame map does not exist

I am continuing my project to have several robots navigate using a shared map. Here are my updated launch files after making changes to have separate namespaces for each robot. Now my struggle is ...
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1 answer
4 views

Transform of Marker in RVIZ giving unexpected results (a lesson on what /use_sim_time is for)

EDIT I think that the transform is working as expected (in that I get the values I expect for the transform) but when rviz does the transformation for visualization, it is put in the wrong place. ...
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1 answer
5 views

Support of geographical co-ordinate projections other than UTM

Hi all. I would like to run an idea by other ROS users before I implement things. For reference we are using ROS 2 galactic. We can currently convert geographical co-ordinates (e.g. ...
Cadmus's user avatar
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1 answer
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tf2_ros:.Buffer definition causes crash of nodelet, undefined symbol undefined symbol: _ZTVN7tf2_ros6BufferE

Hi there, I'm building a nodelet with ROS Melodic. The nodelet publishes a pointcloud based on bumper messages, similar to http://wiki.ros.org/kobuki_bumper2pc. I try to adopt this behaviour for a ...
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1 answer
152 views

slam_toolbox Filter dropping message: frame 'laser'

Hello everyone I am using ROS 2 Eloquent (Ubuntu 18.04) and am currently studying Nav2. I wanted to try the work of slam_toolbox together with the lidar of RPLIDAR S1. To do this, I run: ...
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