The 2024 Developer Survey results are live! See the results

# Questions tagged [transform]

The tag has no usage guidance.

999 questions
Filter by
Sorted by
Tagged with
262 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'...
• 21
1 vote
70 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 ...
1 vote
317 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 ...
• 11
1 vote
715 views

### How do you install tf_transformations?

I've recently been following the ROS 2 Galactic tutorials and I've reached "Introduction to tf2". I wasn't able to install the demos with ...
• 15
1 vote
262 views

### transformStamped to transformation matrix (python)

This may be trivial but I cannot find it anywhere, can someone help me? Goal: Find a transformStamped by a tf2 transform lookup, then convert this to a matrix so I can multiply it. Something like the ...
1 vote
76 views

### Interpolation for between two poses

Hey all, I am looking for a function which interpolate between two poseStamped poses for a given time. I know there has to be something withing the tf/tf2 API but I could not find it. Something along ...
1 vote
91 views

### Transforming PointCloud2

I would like to know if somebody knows what is the substitute for the function of transformPointCloud() for PointCloud2 data type as in this question. I've tried to go to the link provided but it ...
1 vote
288 views

### How to transform PointCloud2 with TF?

Hi, I'm writing a small node aggregating data from a Kinect sensor (PointCloud2) taken from different angle of view. I therefore use the tf library to transform all images in the /world frame before ...
224 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....
• 41
135 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 ...
• 3
303 views

### How to get robot position in map?

I'm having problems overlaying a trajectory onto an occupancy grid plotted using Matplotlib with the correct alignment. My question is how do I get the robot ...
3 views

### Rebroadcast tf transforms with different frame_id on the fly

Due to some nomenclature difference between some packages and some simulator (especially considering tf transforms) I am looking for a nice way to change the frame_id and child_frame_id of some tf ...
27 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 ...
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 [...
• 63
61 views

### Obtaining rotation and translation matrix from homogeneous transformation matrix

I have following piece of code: ...
• 121
80 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: ...
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 ...
46 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 "...
289 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 ...
255 views

### tf_static frames not available in lookup_transform

Running ROS2 Foxy + Ubuntu 20.04 I am using TF2 with Python, rclpy I created a few /tf_static transforms in my launch file, and I have dynamic frames in /tf. The corresponding kinemaitc chain looks ...
85 views

### Is it possible to delete a static TFs

Hello ros community, I am using static TFs for the Transformation between Robot Flansch and TCP. Now i wonder if i am able to get rid of ones sent static tfs (broadcaster = tf2_ros....
196 views

### transform geometry_msgs::TransformStamped to tf2::Transform transform

hi, there: I use tf2 get a transform between two frames, with type of geometry_msgs::TransformStamped. ...
46 views

### specific odom frame responsibility

I am trying to understand the responsibility I have with regards to publishing the odom TF frame. Specifically, we have a mobile robotic system that is intended to (and does) operate via ROS and are ...
15 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 ...
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:...
100 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: ...
36 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 ...
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: ...
• 111
104 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 ...
• 151
58 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 ...
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 \$...
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 ...
33 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 ...
• 68
165 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 ...
165 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 ...
• 103
36 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/...
• 103
188 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, ...
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 ...
39 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 ...
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: ...
366 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 ...
65 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 ...
103 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 ...
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 ...
47 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 ...
568 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 ...
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....
• 465
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: ...