[ros-users] tf transformation

[Wim Meeussen]

Eohan,


> 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



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Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)