TF
1. [ROS] Introduction to tf
There are essentially two tasks that any user would use tf for, listening for transforms and broadcasting transforms.
Anyone using tf will need to listen for transforms:
Listening for transforms - Receive and buffer all coordinate frames that are broadcasted in the system, and query for specific transforms between frames. Check out the writing a tf listener tutorial (Python)
Broadcasting transforms - Send out the relative pose of coordinate frames to the rest of the system. A system can have many broadcasters that each provide information about a different part of the robot. Check out the writing a tf broadcaster tutorial (Python)
Once you are finished with the basic tutorials, you can move on to learn about tf and time. The tf and time tutorial (Python)(C++) teaches the basic principles of tf and time. The advanced tutorial about tf and time (Python) (C++) teaches the principles of time traveling with tf.
publish tf message defining relative pose of two lidars static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms static_transform_publisher 1 0 0 0 0 0 velodyne_1 velodyne_2 10
# tf.launch
<launch>
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0.1 0 0 0.0 0.1 0.1 0.1 velodyne_1 velodyne_2 10" />
</launch>
세번쨰 방법
rosrun tf static_transform_publisher 0 0 0 0 0 0 velodyne velodyne_201 10
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms
- Publish a static coordinate transform to tf using an x/y/z offset in meters and yaw/pitch/roll in radians.
- (yaw is rotation about Z, pitch is rotation about Y, and roll is rotation about X).
- The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.
static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period_in_ms
- Publish a static coordinate transform to tf using an x/y/z offset in meters and quaternion.
- The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.
tf interactive marker
Transform : 한글
[ROS.org] Setting up your robot using tf
TF ROS - Full Course for Beginners : Youtube, 영문, 1:27분