Questions tagged [tf2-ros]
The tf2-ros tag has no usage guidance.
71 questions
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tf2 Quaternion doesn't work as expected
I'm trying to reproduce ros2 Humble documentation tf2::Quaternion Rotations example, but results doesn't match. Sample code:
...
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0
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8
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cartographer map to base_footprint tf variation issue in online mode
I'm working on an AGV. I have an Ouster os1 sensor. I want to use the cartographer online for 3d mapping for outdoor purposes. The robot base starts rotating and jumping in riz when I run the online ...
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1
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38
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Amcl packages doesn't publish the tf transform between map and odom
Currently, i am working on localizing a robot using amcl package.The 3 inputs required for amcl package are provided as follows:
1- Map:provided by using gmapping package.
2- Laser scan: provided by ...
1
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1
answer
32
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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. ...
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40
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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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1
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73
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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 :
...
- 5
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40
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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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1
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91
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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 ...
- 15
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9
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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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44
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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
...
- 1
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3
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225
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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 ...
- 86
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42
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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 ...
- 88
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1
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32
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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, ...
- 1
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0
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34
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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.
...
- 96
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1
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93
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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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2
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140
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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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335
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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
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1
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72
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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
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64
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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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132
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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 ...
- 168
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1
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56
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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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658
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ros2 lookupTransform() to get latest transform
Hello all,
In foxy tf2_ros::Buffer::lookupTransform(),
...
jxl
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1
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63
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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
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180
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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
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7
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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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89
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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
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1
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25
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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:
...
Kazunari Tanaka
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1
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77
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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
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1
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68
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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
0
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1
answer
15
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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
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2
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90
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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
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2
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208
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[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
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1
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144
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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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52
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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
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1
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64
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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
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1
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388
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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
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1
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25
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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
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2
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59
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[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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4
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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
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1
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40
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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
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1
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26
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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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32
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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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133
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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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153
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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
3
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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
answer
43
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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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17
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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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15
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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
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1
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11
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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
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1
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51
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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