echo.py takes the arguments "source_frame" and "target_frame" in this order. Further in the loop, it calls tf2_ros.Buffer.lookup_transform by passing source_frame, then target_frame, whereas the argument order for lookup_transform is target_frame then source_frame.
This is coherent with the tf echo script, but is not with the rest of tf and tf2 terminology, or at least the API terminology. This can (and has) lead to confusion.
I suggest to rename the two arguments so the API remains compatible. Also, providing some documentation for the command line would be nice.
tfoote
commented
3 years ago
echo.py takes the arguments "source_frame" and "target_frame" in this order. Further in the loop, it calls
tf2_ros.Buffer.lookup_transformby passingsource_frame, thentarget_frame, whereas the argument order forlookup_transformis target_frame then source_frame.This is coherent with the
tf echoscript, but is not with the rest of tf and tf2 terminology, or at least the API terminology. This can (and has) lead to confusion.I suggest to rename the two arguments so the API remains compatible. Also, providing some documentation for the command line would be nice.