Packages for common geometric calculations including the ROS transform library, "tf". Also includes ROS bindings for "bullet" physics engine and "kdl" kinematics/dynamics package.
Hi,
In related wiki, the usage of tf_echo is the following:
tf_echo <source_frame> <target_frame>
It is very strange that the result of tf_echo is not consistent with the tf static_transform_publisher published. It confused me long time until I found some notes in this code. In this code, the source_frameid is passed to target_frame argument of lookuptransform function. When source frame and target frame are used to distinct frames, it means that source frame is a moving frame, target frame is fixed. the transform from source frame to target frame is equal to the transform that can transform the point in source frame into target frame. I think tf_echo should keep same convention about frame name with lookuptransform function. This convention is also conformed by robotics.
tfoote
commented
4 years ago
Hi, In related wiki, the usage of
tf_echois the following:It is very strange that the result of
tf_echois not consistent with the tfstatic_transform_publisherpublished. It confused me long time until I found some notes in this code. In this code, thesource_frameidis passed totarget_frameargument of lookuptransform function. Whensource frameandtarget frameare used to distinct frames, it means that source frame is a moving frame, target frame is fixed. the transform from source frame to target frame is equal to the transform that can transform the point in source frame into target frame. I thinktf_echoshould keep same convention about frame name withlookuptransformfunction. This convention is also conformed by robotics.