3 votes
Accepted

Correct use of transformations while using coordinate frames

You're missing a couple key aspects: baselink -> odom transform is the location of the robot (where the robot thinks it is) relative to where it started as calculated by tracking the wheel encoders....
billy's user avatar
  • 336
3 votes
Accepted

Transform PointCloud message

Welcome to Robotics Stack Exchange! I have noticed several concerns with your code snippet, which I would like to address below: Change the signature of your callback to receive ...
ravi's user avatar
  • 1,366
2 votes

How to add namespace to TF2?

What you refer as namespace in TF2 is actually called a prefix. It is used to make sure all links on a given TF tree have a specific name, even in a multi-robot configuration. There is no link with ...
oKermorgant's user avatar
2 votes

Confusion on TF2 frame name conventions, base_link vs odom?

The odom -> base_link transform is published by the odometry system of your robot (from wheel encoders, IMU, etc.). on the other hand, your navigation system is ...
Diego Carvajal's user avatar
2 votes

How does anything listen to tf2? What are the transform_listener_impl nodes?

Its an internal node to TF2 listener that deals with the TF data so that if your server's node is being blocked by a service/action/subscription/timer/etc callback that your TF data is still getting ...
Steve Macenski's user avatar
1 vote

Transform PointCloud message

Maybe a good first step is to convert to PointCloud2 using the snippet from convertPointCloudtoPointCloud2 from the package ...
ignacio's user avatar
  • 125
1 vote

fatal error: tf2_geometry_msgs/tf2_geometry_msgs.h: No such file or directory

hope my reply is not too late :) I met the same issue as you. After searching on the Internet, I found the solution. The reason for the issue The reason for the error is that the CMake cannot find the ...
Jin_Tonic's user avatar
1 vote

What is the frame name in a TF2 transform?

The name frame is short for coordinate frame. In any system there are many relevant coordinate frames. A transform is a representation of what it takes to move data represented in one frame to the ...
Tully's user avatar
  • 25.1k
1 vote

What is the frame name in a TF2 transform?

I think the answer is best presented with a simple example. A robotic arm is a chain of frames (within transforms) from the base to the end effector. Each frame is defined relative to its parent. For ...
Robotawi's user avatar
  • 500
1 vote
Accepted

Inconsistencies in Transform Definition between tf2 and ROS?

We believe we've figured this out. Here's what we've learned: What is a Transform? Consider the diagram below which shows two coordinate frames, source and destination, as well as a vector ...
Raika Dial's user avatar
1 vote

tf_static frames not available in lookup_transform

My answer may be broader than what OP is asking, but because the initial motivation was the same for me to start tackling (static_transform not looked up via Python api in ROS2 for me), I share here ...
IsaacS's user avatar
  • 4,502
1 vote

Is it possible to delete a static TFs

You could republish the static tf with the same child_frame_id but with a new parent that detaches it from your tf tree- the parent should have no static or dynamic transforms to any other frame in ...
Lucas Walter's user avatar
  • 3,347
1 vote

transform geometry_msgs::TransformStamped to tf2::Transform transform

There are the toMsg and fromMsg conversion functions in tf2_geometry_msgs (API Doc). Note ...
Matthias's user avatar
  • 5,815

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