Questions tagged [tf2]
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347
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use frame_prefix or namespace for multiple robots' frames? and need to create transforms between them
I'm working on a multiple robots system, these robots have same urdf file, so same transforms. My question is how to control them seperately, while I can also get their relative position.
I'm using ...
- 1
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18
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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 ...
- 1
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1
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40
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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 ...
- 1
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1
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25
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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 ...
- 1
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1
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52
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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 ...
- 11
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60
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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 ...
- 40
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20
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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.
...
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1
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69
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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 ...
- 1
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31
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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 ...
- 125
2
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2
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137
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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 ...
- 53
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21
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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 ...
- 1
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38
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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 ...
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41
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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 ...
- 1
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1
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27
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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 ...
- 3
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19
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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 ...
sdu568
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1
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5
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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 ...
sdu568
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1
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9
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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 ...
Vini71
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1
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192
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[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 ...
Rstef
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1
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6
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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 ...
BlueBird
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1
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62
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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 (...
Vini71
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1
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6
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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 ...
oddbotwl
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1
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19
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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 ...
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14
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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 ...
MrOCW
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1
answer
21
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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.
...
robra
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2
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10
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 ...
Youssef_Lah
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1
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2
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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:
...
Woz
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1
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3
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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 ...
mth_sousa
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1
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79
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 ...
marcelomm103
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2
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24
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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:
...
distro
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1
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163
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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/...
Heho
0
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1
answer
9
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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 ...
Husam
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1
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77
views
ros2 lookupTransform() to get latest transform
Hello all,
In foxy tf2_ros::Buffer::lookupTransform(),
...
jxl
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1
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3
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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 ...
JustinPMaio
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1
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1
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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. ...
Joshua Kordani
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1
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3
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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. ...
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16
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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 ...
PaddyCube
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1
answer
46
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:
...
Dr.Modi
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1
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16
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TF2 Static Transform publisher for rotated Lidar
HI All,
I am a bit new to this. I have a robot with the scanner (RPLIDAR) located at the center of the the robot base, but it is rotated 90 degrees about axis z . What should I set the qw value for my ...
chm007
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1
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34
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ros2_control and gazebo mobile manipulator - no transform from arm to odom
Hello ROS people,
[ROS2 Foxy - Ubuntu 20.04].
I'm somewhat a beginner in ROS-ROS2.
I'm currently trying to implement a robot consisting of a mobile base (it's a mecanum robot) and a simple "arm&...
dobid
0
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1
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6
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slam_toolbox: map - odom transform stuck at time: 0.200
Hello,
After migration from Foxy to Galactic I got the following issue:
...
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4
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Get correct tf from robot_state_publisher
Question: How do I get the correct tf from robot_state_publisher?
Details and background:
I have a urdf file (snippet shown below) describing a joint:
...
didi1311
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1
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44
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cannot convert ‘tf2_ros::TransformListener*’ to ‘tf2_ros::Buffer*’
I am trying to upgrade some existing code that use tf with kinetic to use instead tf2 with noetic.
In the following line of code, planner_ is of type ...
zkytony
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2
answers
4
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Is there a Node for general data frame transforms?
I am looking for a package which uses tf2 to perform semi-generalized data transforms. Based on its configuration it would subscribe to an input topic and transform the message on that topic to a ...
msmcconnell
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2
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27
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laser_geometry ros2 example
Hi, I'm trying to get the at the end of the laser_pipeline tutorial page to work in ROS2 Foxy. I've been complementing the code with the tf2 message filter tutorial page as well. My code right now ...
lalvarez
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1
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7
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creating the map with only Lidar
I am using, ROS Noetic + 20.04.
Lidar hardware: rplidar_a3m1
I installed slam_toolbox ...
amjack
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1
answer
1
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Planning in turned static frame fails
For an application I am planning in different static frames (tf2). On the first screenshot you see an example frame, named pm_slot2. By using the command ...
nicob
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1
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13
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replacement for rospy.Time(0) in ROS2?
Hi,
I want to lookup the latest transformation in a tf buffer. In ROS 1 used rospy.Time(0), but I haven't found anything about how it works in ROS2.
Here is a snippet of the code to understand in the ...
janolus
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1
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26
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Tf tree for multiple turtlebots
Hello, I am trying to run two turtlebots in a gazebo simulation. I'm wondering about the tf tree for the robots. This is what I get:
Sometimes if I refresh this I get:
so the wheel_right_link and ...
Roshan
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1
answer
10
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Child to parent tf2 transform (c++)
Hello again,
I am not sure if this is possible but is there anyway to transform from child to parent instead of parent to child?
I would like to transform with the hierarchy /odom -> /base_link but ...
anguyen9630
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1
answer
6
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Equivalent of checking quaternion is valid in tf2
Is there an equivalent function to assertQuaternionValid() in tf2? I suppose I could just re-implement the source code for the function using tf2 equivalents? http:/...
jn42