Questions tagged [tf2-ros]
The tf2-ros tag has no usage guidance.
59
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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:
...
0
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1
answer
31
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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 ...
- 1
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1
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40
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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
0
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0
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11
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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 ...
- 31
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1
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124
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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 ...
- 3
0
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1
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16
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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 ...
labude
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1
answer
20
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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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25
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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 ...
0
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1
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8
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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 ...
distro
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1
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76
views
ros2 lookupTransform() to get latest transform
Hello all,
In foxy tf2_ros::Buffer::lookupTransform(),
...
jxl
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1
answer
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
0
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1
answer
19
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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
...
morten
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1
answer
1
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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 ...
- 314
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1
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17
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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 ...
charlie92
0
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1
answer
6
views
Segmentation fault on tf2_ros
I am using slam_toolbox with arm64 architecture.
But I encount SIGSEGV.
How do I fix this error?
backtrace:
...
Kazunari Tanaka
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1
answer
10
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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 ...
kunaltyagi
0
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1
answer
12
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/...
FKNoble
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1
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2
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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, ...
ateator
0
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2
answers
17
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tf2_ros::Buffer.transform() missing timestamp
Hello everyone
I use tf2_ros::Buffer.transform() to transform a geometry_msgs::WrenchStamped into a...
dimitri
0
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2
answers
36
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 ...
Loekes
0
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1
answer
18
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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 ...
svintissen
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1
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4
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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 (...
hashirzahir
0
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1
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14
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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 ...
rwbot
0
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1
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49
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:
...
ipa-hsd
0
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1
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7
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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 ...
Victoria Bentell
0
votes
2
answers
8
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.
...
Sol
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1
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2
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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 ...
shikharvaish28
0
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1
answer
7
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 ...
kkrasnosky
0
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1
answer
4
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`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 ...
ceres
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1
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3
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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
...
blakejwc
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1
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26
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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 ...
vandanamandlik
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1
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13
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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 (...
aPonza
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1
answer
1
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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 ...
aPonza
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1
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11
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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 ...
aPonza
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1
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5
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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 ...
cybodroid
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1
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2
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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:
...
Andy III
0
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1
answer
4
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, ...
vschmidt
0
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1
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8
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 ...
Hendrik Wiese
0
votes
1
answer
1
view
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:
...
arkin
0
votes
2
answers
44
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 ...
MrC11
0
votes
1
answer
4
views
How can I access all static TF2 transforms?
I have two nodes who each publish a single static TF2 transform (each with a different child frame) via tf2_ros.StaticTransformBroadcaster.sendTransform upon startup. These are essentially ...
BJP
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2
answers
1
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import tf2/StaticTransformPublisher in Python
I'm following this tutorial[1] and having trouble with importing.
[1] http://wiki.ros.org/tf2/Tutorials/Writing%20a%20tf2%20static%20broadcaster%20(Python)
...
- 4,192
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2
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37
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tf2_ros buffer transform PointStamped?
I'd like to transform a PointStamped using a python tf2_ros.Buffer, but so far I'm only getting type exceptions.
The following ...
- 3,242
0
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1
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3
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TF Listener for static transforms exclusively
Is there a way to listen to only the static transforms in a TF tree (e.g. base_link --> base_laser_link) without instantiating an entire ...
spmaniato
0
votes
1
answer
2
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Is there a max number of edges allowed between two frames in a TF tree?
I have a pose graph of about 2000 nodes published as static transforms with tf2_ros::StaticTransformBroadcaster.
Currently, the poses are chained together as a path,...
- 818
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1
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4
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tf2 stamped datatypes tutorial fails to build
I'm trying to walk through the tf2 tutorials following the instructions here: http://wiki.ros.org/tf2/Tutorials/Using%20stamped%20datatypes%20with%20tf2%3A%3AMessageFilter
Trying to build the source ...
eddy.scott
0
votes
1
answer
5
views
How to substitute TF2 prefix
Hi,
I have seen that tf_prefix support is deprecated in TF2. What is the proper way now of having the same functionality? That is, I have two robots, robot1 and robot2, and I want the TF frames to ...
Javier V. Gómez
0
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1
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9
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tf2 tutorial writing broadcaster -- compile error
Hi,
I'm following the tutorial at http://wiki.ros.org/tf2/Tutorials/Writing%20a%20tf2%20broadcaster%20%28C%2B%2B%29
I copy-and-pasted the code, made changes to CMakeLists.txt, but I see this error ...
nitekrawler
0
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1
answer
33
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TF_OLD_DATA ignoring data from the past for frame openni_depth_optical_frame
Hi,
I need to play my bagfile with the -l loop parameter. However after the time is reset, I get a lot of these errors:
...
J.M.T.
0
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1
answer
3
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tf2, thread, setUsingDedicatedThread, timeout
I'm migrating part of my code to tf2. Big chunk of my code is library that can run online or offline, so I pass at construction time a reference to a tf2_ros::Buffer object. It is then used to lookup ...
brice rebsamen