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Inconsistent getCurrentPose() with TF2 pose information

I am getting robot pose information by using Moveit2 Script ( getCurrentPose() method). When I tried to verify the getCurrentPose information, I found that it was inconsistent with TF information. ...
Mercol K's user avatar
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1 answer
24 views

TF2 Question about frame conversion

I modeled the following robot with an urdf file. Thanks to a robot state publisher, i have access to the static tfs between camera_link and base_link. I'm using orb_slam3 library as SLAM algorithm. ...
Kevin_dans_son_garage_du_63's user avatar
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13 views

how to change base_link orientation as parent tf universal robot in moveit?

Affected ROS Driver version(s) : Ubuntu 20.04 Used ROS distribution : Noetic Summary I have a UR5e robot and a plan that contains a conveyor with the position as in the picture. I want to do cartesian ...
Ahmad Zidan Wahyudin's user avatar
1 vote
0 answers
19 views

Ekf_node not publishing any tf transform

I am working with Nav2 packages for autonomy. A first step to make this work is to get odometry working. I am trying to get an ekf_node to publish an odom->base_footprint transform (the URDF has ...
Marc's user avatar
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tf2 lookuptransform failed to get target_frame in rosbag play

I have a multi camera setup and is attempting to get the extrinsic transformations for each camera. For this I used a class object in python to retrieve the static transform of each camera during ...
Total-Lecture-9423's user avatar
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Problem with laser_scan_matcher usage

I'm trying to use the laser_scan_matcher package with a robot that do not publish its odometry, neither has a laser scan sensor. I'm using the "depthimage_to_laserscan" package to get a '...
Ascensor's user avatar
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1 answer
30 views

Robot Blinking Like an UFO in RViz and Costmap Issues, Potential Problem with odom to base_footprint Broadcast for Real Robot

I'm experiencing an issue with my ROS2 setup where my robot appears to blink like a UFO in RViz, and the costmap blinks intermittently. Here’s a detailed breakdown of my situation: 1 - Setup I have a ...
Marcus Vinicius's user avatar
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1 answer
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Tf2 dynamic broadcaster (w/ Gazebo)

I want to publish a dynamic frame, that is child of the base_link of my robot. I follow this tutorial. However, once this frame is published, it appears to be disconnected from all frames controlled ...
user37959's user avatar
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2 answers
27 views

Undesired Transforms not available in RVIZ2

In rviz I am getting error: No Transform from [front_left_link] to [odom] No Transform from [front_right_link] to [odom] No Transform from [rear_left_link] to [odom] No Transform from [...
Pratham's user avatar
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2 answers
81 views

Issues Transitioning Navigation2 from Simulation to Real Robot: Missing Costmaps

Setup: I am using Ubuntu 22.04 and ROS2 Iron, Two 3D Velodynes, a radar. I am using a ros2 bag in which I recorded the autonomous vehicle launched topics (just to get the sensors data: GPS, odom, imu, ...
Marcus Vinicius's user avatar
1 vote
0 answers
22 views

TF2 Best Practices for large transforms trees

I've been using ROS2 for a while now, but mostly in projects which don't involve large transform stacks. Recently I've started a project involving drilling holes in many locations ~100+ with multiple ...
user40652's user avatar
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1 answer
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AMCL is not publishing map -> odom TF [HUMBLE]

I'm working with an ackermann car-like robot. I've just created a map with SLAM and now following the turtlebot3 tutorial I'm loading it in the NAV2 launch with the AMCL. The thing is the map frame is ...
dani santana's user avatar
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1 answer
20 views

Pointcloud2 in RVIZ2 using tf2_ros::buffer and lookupTransform

...
Maverick_ROS's user avatar
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0 answers
13 views

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
1 vote
0 answers
26 views

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 ...
Bart B's user avatar
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1 answer
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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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1 answer
87 views

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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2 answers
172 views

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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1 answer
53 views

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 ...
AndyZe's user avatar
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1 vote
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75 views

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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1 answer
145 views

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 ...
tyraex's user avatar
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1 answer
336 views

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
  • 21
0 votes
2 answers
110 views

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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67 views

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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1 answer
32 views

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 ...
Yato's user avatar
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0 answers
18 views

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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0 answers
21 views

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
  • 96
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0 answers
37 views

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
1 vote
1 answer
304 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
  • 11
0 votes
1 answer
122 views

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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1 answer
174 views

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
1 vote
1 answer
247 views

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
  • 172
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0 answers
22 views

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
0 votes
1 answer
297 views

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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0 answers
105 views

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
  • 125
2 votes
2 answers
478 views

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
  • 53
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0 answers
42 views

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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0 answers
83 views

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
0 votes
1 answer
104 views

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
  • 1
0 votes
1 answer
59 views

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
0 votes
1 answer
102 views

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 ...
user avatar
0 votes
1 answer
32 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 ...
user avatar
0 votes
1 answer
44 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 ...
user avatar
0 votes
1 answer
546 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 ...
user avatar
0 votes
1 answer
14 views

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 ...
user avatar
0 votes
1 answer
429 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 (...
user avatar
0 votes
1 answer
17 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 ...
user avatar
0 votes
1 answer
77 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
  • 22
0 votes
1 answer
39 views

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 ...
user avatar
0 votes
1 answer
55 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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