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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 ...
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Error when initializing tf2_ros::buffer in ROS2 Foxy

does anyone know why i cant initialize an instance of tf2_ros::buffer in ROS2 Foxy? test_file.cpp : ...
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2D LIDAR and Camera D435i Fusion

I have a question about data fusion. Can I use the tf2 tool to fuse LIDAR and camera data ?
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ROS2, Create3, Node subscribes to topic /tf but cannot receive data

In ROS2 for the iRobot Create3. I created a node and subscribed to the topics /tf and tf_static. It seems to work because I can compile it and subscribed to other topics without any problems. But /tf ...
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How to Ensure Consistent Reference Frames for Comparing Odometer and Camera Angle Data in ROS Noetic?

In my ROS Noetic project of a vehicle with a camera and odometer, I'm planning to compare the vehicle's position from the odometer with the desired angle or direction detected by the camera. However, ...
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Porting `tf2_web_republisher` to ros2 header files not found problem

I am trying to port tf2_web_republisher to ros2. However, I stuck at these two header files ...
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3 answers
138 views

tf-prefix problem in turtlebot3 (ROS2 Foxy)

I am trying to namespace the topic, nodes and tf frames of a turtlebot3 to use it for multirobot experiment. So, i created a rsp.launch.py file to just publish the robot description at first using the ...
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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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tf name conflict

I'm wandering the way to use two cameras with different tf name. I use two relasense camera, one is one the ceiling (bird view), the other is on my robot (robot view). Since launching the same file, ...
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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. ...
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Broadcasted tranform throws exception upon lookup

I am using ROS 2. My code is throwing an exception even though I have just created the transform above it. Please see the code snippet below: ...
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Invalid frame ID even if the TF tree is produced correctly

I am having a hard time understanding the production of the TF tree. I have a robot which is visualized correctly both on Rviz and Gazebo. The transmissions and gazebo plugins work fine such that I ...
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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 ...
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pb with frame name in lookup_transform

I've done the tutorial for tf2, and everything works fine. Now I'm trying to reproduce the "follow" behavior with drones, but this time it fails. I've got a Node for each drone. I do the ...
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Transform between odom and base_link is faster than in real life [Solved]

i have a differential drive mobile robot and i want to add him the navigation and the localization satck. Currently it's controlled by a teleop. But when i look the transform between odom and ...
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TF get the time of last transform

Hello! I want to check if the tf2_ros::Buffer received a valid transform from A to B in the last x seconds (to throw an error in case of time out). So something like ...
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1 answer
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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. ...
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2 answers
94 views

tf2_ros lookup_transform giving wrong transformation

Hello everyone, I want to get the transform from tool0 frame to base_link frame of the UR3 robot but I'm having problems. Below ...
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1 answer
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need to get tf2_ros to work in python3 environment for Melodic

I need tf2 to work in python3 environment in ROS melodic. I saw a similar question here for ROS kinetic, I need the same thing for melodic. Please help. Originally posted by distro on ROS Answers ...
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1 answer
481 views

ros2 lookupTransform() to get latest transform

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

creating the map with only Lidar

I am using, ROS Noetic + 20.04. Lidar hardware: rplidar_a3m1 I installed slam_toolbox ...
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1 answer
114 views

[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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1 answer
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Signifiance of fixed_frame parameter in lookupTransform function

I was going through the implementation of the lookupTransform function defined inside the base_local_planner::getGoalPose() function. What is the significance of ...
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TransformListener x10 higher CPU load in rclpy than rclpp

System info Operating System: Docker + Ubuntu 20.04, 10th gen i7 Docker + Ubuntu 20.04, jetson AGX Xavier ROS2 Version: Foxy binaries Steps to reproduce issue Make sure the system is publishing ...
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1 answer
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Segmentation fault on tf2_ros

I am using slam_toolbox with arm64 architecture. But I encount SIGSEGV. How do I fix this error? backtrace: ...
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1 answer
55 views

Get valid frames from `tf2_ros.Buffer` based on `cache_time`

tf2_ros.Buffer offers a cache_time argument in both C++ and Python implementations. C++ doc Python code However, on calling ...
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1 answer
57 views

tf2_ros: AttributeError: 'Buffer' object has no attribute 'destroy_subscription'

Hi there, I'm new to ROS and am working through all the tutorials. Right now, I'm working on the tf2 package's tutorials; however, I'm getting stuck on writing a tf2 listener (see: http://wiki.ros.org/...
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1 answer
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ROS2 Eloquent TF listener (tf_echo) values freeze/resume on a cycle unexpectedly

Ubuntu 18.04 ROS2 Eloquent TF C++ ###My pipeline: I have a robot which uses sensors to detect the rotation, extension of its joints. It has revolute, prismatic, and fixed joints in a URDF file. Yes, ...
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2 answers
68 views

tf2_ros::Buffer.transform() missing timestamp

Hello everyone I use tf2_ros::Buffer.transform() to transform a geometry_msgs::WrenchStamped into a...
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2 answers
143 views

[ROS2] tf2 broadcaster

Hello, I'm currently working on a differential drive robot with ROS2 and encountering some errors with a rclcpp transform broadcaster. I hope i can get some answers as to what I am doing wrong. I'm ...
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1 answer
98 views

Using python modules from ROS2 packages

Hi, I am using ROS2 dashing and I want to work with the geometry2/tf2_ros package which is available at https://index.ros.org/p/tf2_ros/#dashing. I am sure this is a very basic question, but I am ...
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1 answer
33 views

Configuring TF tree for a system that inherently uses NED (North-East-Down) convention?

I know how to perform transforms between an ENU and NED frame (a simple static flip) but my question here is more of how do I configure the TF tree if the existing codebase assumes everything as NED (...
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1 answer
45 views

TF2 ConnectivityException With Connected TF Tree

I'm getting the following error about missing frames, but when I view the TF tree, it shows as a single connected tree. The same error occurs no matter which two frames I use. I don't have enough ...
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1 answer
287 views

transform pose in tf2

Ubuntu 18.04 ROS2 Eloquent (installed by binaries) I am trying to transform a PoseStamped in the target frame in python. Below would how my code look like: ...
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1 answer
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Link in rviz teleports between original and transformed position with tf2

Here's a video of what I'm referring to. I'm using rviz to display a transformation using a tf2 broadcaster, but link1 keeps popping back and forth between its specified location from the URDF, and ...
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2 answers
48 views

[ROS2]Are there any examples of tf2 broadcast or listener

Hello comrades, I`m just trying to get odometry from t265 from realsense2_lib examples. After compiling and running this code below, I get that target frame does not exist. Thanks in advance. ...
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1 answer
3 views

Support for ROS2 Dashing along with python3

I have built the geometry library for my project using colcon for ROS2 Dashing and Python 3 and sourced it using ...
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1 answer
22 views

Finding buffered frames in tf2_ros::Buffer (c++)

I am creating a post-processing utility where I read all the transforms from a .bag file into a tf2_ros::Buffer. I would like to be able to ask the Buffer for all the frames it has cached. I don't ...
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1 answer
14 views

`tf static_transform_publisher` removes link instead of linking two tf trees

When using static_transform_publisher, attempting to link to coordinate systems via a common frame the publisher removes the link from one tree and places it in the ...
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1 answer
15 views

How do I debug ld error linking tf2 transform of geometry_msgs::Point32

Hello ROS Answers, I'm out of ideas for debugging an linking error on my machine. I need help solving the problem below or advice on how to debug further. Platform: Distro: Indigo OS: Ubuntu 14.04 ...
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1 answer
85 views

Could not find waitForTransform() function in TF2 package of ROS2

We are working on laser_filters package porting to ROS2 in that waitForTransform() method is used but I could not find similar method in ROS2 crystal/bouncy. Originally posted by vandanamandlik on ...
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1 answer
91 views

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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1 answer
2 views

Calculate picking pose from mesh origin pose (using tf?)

I would like to pick and place multiple times an object I have in the collision world. The object gets moved in different states, and at the moment I don't have cameras on the scene so I can't infer ...
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1 answer
31 views

Static tf2 transform returns correct position but opposite quaternion

Trying to read the state of my robotic arm, I found that the manufacturer provided transforms for everything up to the flange but not to the center of the closed fingers in the end effector. In the ...
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1 answer
8 views

How to migrate tf data types such as Quaternion, Vector3, Transform to tf2?

There is not much mentioned about tf2 datatypes on tf2_ros documentation at http://docs.ros.org/latest/api/tf2_ros/html/c++/. While comparing to http://docs.ros.org/latest/api/tf/html/c++/, we don't ...
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1 answer
8 views

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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1 answer
7 views

tf2 Documentation Needs Work

As we get ramped up on our own ROS environment, we've found the tf2 implementation extremely hard to understand. So this is a bit of a plea for folks who understand it well, to improve the tutorials, ...
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1 answer
36 views

TF2 how to translate vector in Python?

Hi everyone, I think I'm experiencing a severe blackout right now... A short one: in Python, how do I translate a 3D vector (a numpy array) from one TF2 frame to another considering position and ...
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1 answer
31 views

class construction error when using tf2_ros::Buffer

Hi all, I am trying to use tf2_ros::Buffer in a simple code. When I put it in the main function, everything works fine. But when put in a class, building error occurs. The code is like this: ...
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2 answers
195 views

transform pointcloud with tf2

Hello, I have two tf2 frames in ROS "World" and "Robot" the world is on position 0, 0, 0 and the Robot is on different position, it is a moving robot, but for now let say he is on ...
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