[ros-users] tf transformation

Wim Meeussen meeussen at willowgarage.com
Sat Nov 20 02:49:30 UTC 2010


> I want to use tf transforms(_geometry_msgs__TransformStamped) to find the
> transformation(trans) between two transformations(say tf1 and tf2).
> Basically,
> tf1 = trans*tf2
> Is this possible to do in python without explicitly publishing the tf1 and
> tf2 and subscribing to the trans? Seems like its a trivial function that
> should exist.

Tf is not designed to be a library for geometric operations. Instead
you can use a library like PyKDL (part of the kdl package). The
tf_conversions package contains tools to convert PoseStamped messages
to and from PyKDL Frames.


Wim Meeussen
Willow Garage Inc.

More information about the ros-users mailing list