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ros / geometry2

A set of ROS packages for keeping track of coordinate transforms.
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create action based transform publisher server #39

Open tfoote opened 11 years ago

tfoote commented 11 years ago

Originally: https://code.ros.org/trac/ros-pkg/ticket/4179

During the poolshark project, I wrote a node that is an action server, takes as a goal a PoseStamped and a frame id, and then periodically publishes the resulting transform to /tf. It's a simple piece of code that might be more generally useful. I'm not sure where it belongs, as it depends on both tf and actionlib.

The code is: https://code.ros.org/svn/wg-ros-pkg/trunk/stacks/billiards/billiards_executive/nodes/posestamped_to_tf

The action spec is: https://code.ros.org/svn/wg-ros-pkg/trunk/stacks/billiards/billiards_msgs/action/PoseStampedToTF.action

Also it allows the publishing to be recinded relatively easily.

I like this as a potential way to deal with static transforms. It is a little heavy on the dependency list.

ahubers commented 10 years ago

Found this comment through a Google search. In the past I've just written a simple subscriber to publish a static transform periodically. However an action server would be a better way to deal with this.

If this code was written in Python I'd love to steal it.. Additionally, I'm not opposed to rewriting and sharing.