Skip to main content
The 2024 Developer Survey results are live! See the results

Questions tagged [transform]

The tag has no usage guidance.

Filter by
Sorted by
Tagged with
0 votes
0 answers
14 views

How to calculate the twist of an object B with respect to frame C if I know the twist of another object B rigidly attached to A

the problem I have is the following. I have a fixed reference frame in the world (C) that does not move from its place and I have two objects (A and B) that are moving and are rigidly joined to each ...
Mario Herrera Almira's user avatar
0 votes
1 answer
26 views

"No transforms from [<any link>] to [<baselink>]" in Rviz2 when trying to launch robot model

I am currently trying to modify a robot model in rviz2 but when I launch it, I am getting a no transforms error under robot model status. I am also getting a fixed frame error and I am unsure why. The ...
Cameron Bauman's user avatar
0 votes
2 answers
29 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
  • 63
0 votes
0 answers
14 views

Need whole system to be running on sim time

I'm using Ubuntu 22.04 and ros2 humble. When using nav2, my robot follows its set path, but midway through gets an error then spins and comes to a stop. I believe its because of this line in the error:...
Aidan Reilly's user avatar
0 votes
1 answer
97 views

ERROR 1714114699.725235045 transformPoseInTargetFrame : Extrapolation Error looking up target frame:

I am doing this on my machine and controllers are running on rpi 4b unable to perform navigation robot starting spinning around Error: ...
Vrushab Jain's user avatar
1 vote
0 answers
67 views

How to compute quaternion or Roll Pitch Yaw from a directional vector?

I am trying to get a sensor attached to the end of a robot arm to point at a specific Point of Interest. I know the XYZ position of both the POI and the target pose of the sensor, and I am able to ...
SconeIsGone's user avatar
0 votes
0 answers
35 views

Launching TB3 Cartographer causes map origin to be shifted in RVIZ

I am creating a multi-robot cartography and routing system using ROS2 Humble. When I launch each robot's nav stack, everything looks good. As soon as I launch the cartographer_ros node, the map on ...
Razgriz117's user avatar
0 votes
0 answers
36 views

How to Calculate the Correct Orientation (rx, ry, rz) When Rotating a Pose Around an Axis in 3D Space in Python

I created a function to compute the rotated pose around a given rotation axis. Here is my code: ...
Carlos's user avatar
  • 111
0 votes
3 answers
200 views

Alternative to tf2_sensor_msgs.do_transform_cloud in ROS 2[Humble] for Point Cloud Transformation?

I am relatively new to working with point cloud data in ROS 2, and I am currently facing an issue with transforming point cloud data. I have been trying to utilize the tf2_sensor_msgs....
Dragon's user avatar
  • 41
0 votes
1 answer
99 views

Could not get base to fixed frame transform, Lookup would require extrapolation into the future

I'm trying to figure out what is causing this message. I am using an rplidar, and launching like so: roslaunch rplidar_ros rplidar.launch Then I create a transform ...
jgauthier's user avatar
  • 151
0 votes
2 answers
61 views

Obtaining rotation and translation matrix from homogeneous transformation matrix

I have following piece of code: ...
RajS's user avatar
  • 121
0 votes
1 answer
55 views

How to give Moveit! local orientation goal to my end effector, but global position?

As the title says, how to give a local orientation to my end effector, but global position? Basically this would mimic the goal orb in RVIZ, where you can drag it around to give global position, but ...
Ezeuz's user avatar
  • 1
0 votes
1 answer
44 views

Mixing coordinate frames and transformations

Could somebody explain to me the mixing of coordinate frames and transformations with each other in Robot Manipulators: Mathematics, Programming and Control by Richard Paul? On page 102 it says: The $...
Radar32's user avatar
0 votes
2 answers
129 views

Why does URDF use Euler angle to represent rotation?

To describe the rotation between tow links, why does URDF use Euler Angle instead of quaternion or axis-angle to describe the rotation? Since there might be singularity issue or gimbal lock in the ...
Ben's user avatar
  • 3
0 votes
1 answer
78 views

Force transformation problem

I have the following set-up: I read force and torque values in sensor frame, but I want to transform the to tool frame. I have the following equation: where: This last matrix shoul be 6x6, but if I ...
Unai Granados Ormaetxea's user avatar
0 votes
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
  • 68
0 votes
1 answer
161 views

Gazebo Garden: How to publish the transform of elements in a simulation

I need the depth ground truth of a camera view in gazebo and decided to go with an rgbd camera which produces a pointcloud. In order to visualize this I need to somehow publish the transform of the ...
kilianf's user avatar
0 votes
2 answers
78 views

Wrong Point Cloud orientation in Rviz

I am trying to correctly orient the pointcloud data coming from a Depth camera sensor Gazebo model into the Rviz, but it's not working. Camera Model: ...
Vrushab Jain's user avatar
2 votes
3 answers
256 views

How can I determine the necessary joint angles given the position of this UR-3 robot?

I'm trying to perform inverse kinematics on this robotic arm with 6 DoF. However, I'm not exactly sure how to start. I know a technique when the last three joints make up a spherical wrist, however, I'...
ARJ's user avatar
  • 21
0 votes
1 answer
160 views

IMU frame transfer to body frame

I am just wondering how do we transfer IMU readings to Body frame? Especially, linear speed and acceleration. In following diagram, the IMU is mounted on one of the surfaces of the body (you can ...
Nick X Tsui's user avatar
0 votes
0 answers
35 views

IMU frame to body frame

I am thinking about this problem: My IMU is centered at point O, and my structural body is centered at point p. Points O and P are two points on a rigid body. Point P is always moving and its motion/...
Nick X Tsui's user avatar
1 vote
1 answer
310 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
187 views

Multi robot SLAM problem

I'm trying to make two robots work in ROS Galactic with no luck so far. As far as I know the approach is to use namespaces. In order to make this I have namespaced everything (nodes, frames, topics, ...
Lucas's user avatar
  • 1
0 votes
0 answers
19 views

how can the world to map transform be calculated

Given the origin of the map in lat,lon, yaw, pitch and roll how can one calculate the transform from world to map? Here are the steps I have done: calculate the ENU to ECEF transform ...
Ahmed Sobhy's user avatar
0 votes
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
0 votes
0 answers
38 views

Transformation Pose

Hi I am doing a transform from the object to the base_link the orientation seems to be right but the positioning is wrong.Here is my code. i had to change the translation values as when i move foward ...
emanuel rodrigues's user avatar
0 votes
0 answers
57 views

Child Robot not following parent in RViz

I'm in a 2D environment in C++/ROS and I have two Robots with only Translational/Rotational velocity. They move only on the X axis and rotate on the X axis. The configuration follows this scheme: ...
SlimShadys's user avatar
0 votes
1 answer
45 views

Calculate target orientation

I have the following setup: I want to move the "Drill" frame to "Target1" with the opposite Z axis direction. I have calculated translation between "Target1" and "...
Unai Granados Ormaetxea's user avatar
0 votes
0 answers
365 views

Convert (project) 3D points onto 2D image plane

I am working with several TF frames (attached to my robot) and their corresponding 3D coordinates. These frames are positioned within the camera's field of view, specifically in the honey/nav_cam ...
Dmtsc's user avatar
  • 1
0 votes
1 answer
286 views

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 ...
Josselin's user avatar
0 votes
1 answer
62 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
45 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
561 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
3 views

[tf] Sequence numbers of rostopic tf

I noticed the folliowing weird thing: (don't be perturbed: for analysis I load it into excel.) Should the sequence numbers in tf topics published be increasing? I saw this and it was quite suspicious....
pitosalas's user avatar
  • 465
0 votes
1 answer
78 views

Wrong Pointcloud Orientation in Rviz

Hey, I am trying to correctly orient the pointcloud data coming from a Kinect 3D camera sensor Gazebo model into the Rviz, but it's not working. In Gazebo, a Pose is of the form: ...
user avatar
0 votes
1 answer
150 views

How to get the position of tf frame

How to get the position of the tf frame (child frame in rviz) , when I use tf.TransformListener().lookupTransform(parent_link, child_link, rospy.Time()) I get the ...
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
443 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
69 views

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 ...
user avatar
0 votes
1 answer
48 views

Does the package robot_localization need the position transform between sensors?

My robot has a IMU sensor and a GPS.Now I want to use the package robot_localization. How have I published the position transform? For instance,I set the frame_id ...
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
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. ...
user avatar
0 votes
1 answer
33 views

Not able to find TransformListener.frameExists('marker')

I want the robot arm to move by detecting the Aruco marker using camera on base. I am using the code below to get translation and rotation between base and the marker, however the condition t....
user avatar
0 votes
2 answers
116 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 ...
user avatar
0 votes
1 answer
12 views

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: ...
user avatar
0 votes
1 answer
7 views

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 ...
user avatar
0 votes
1 answer
13 views

TF2-Eigen 3.4 compatibility

I'm working in a quite big project in ROS 1, Noetic. In this project, some code need Eigen 3.4.9. However, some other code needs tf2, including eigen conversions. When compiling with both of them, I ...
user avatar

1
2 3 4 5
20