[ros-users] remapping tf frames
bouffard at eecs.berkeley.edu
Sat Feb 19 18:06:50 UTC 2011
Funny you should ask this as I just encountered the exact same issue
yesterday. Though in my case I just want to 'push down' the frame
names into a namespace along with all the other frames I use, in
anticipation of multiple vehicles in the future.
Anyhow, I don't have a solution that doesn't involve changing the
driver, but I did so and can offer a patch--unfortunately though the
source code is at the lab and I can't get at it at the moment. But let
me know if you want it and I can get it to you in a day or so.
Basically what I did though is to implement the (somewhat obscure,
IMO) ~tf_prefix parameter (which if I understand correctly, should
always be implemented by producers of tf data.. maybe someone can
comment). So in my case I set tf_prefix to, e.g., "pelican1", and the
frame_id's of the published point cloud and images are
Another solution might be to use the 'rewrite' branch of the driver,
though I haven't tried it yet. But it looks like you can directly
specify the whole frame id in the launch file:
P.S. You can now use answers.ros.org to ask this sort of question.
Actually if you repost your question there I'll repost this answer,
and then we can add 'tf' tags and all that goodness.
On Sat, Feb 19, 2011 at 7:32 AM, Marc Killpack <staderennais at gmail.com> wrote:
> I'm wondering if it is possible to remap tf frames from inside a launch file
> (or other similar means) in the same way it is possible to remap topic names
> of published topics? My use case is that I have two Kinects between which I
> would like to define a transform. However, the base frame_id for the kinect
> is defined in the openni_driver.cpp file. This means that when I run two
> kinects they broadcast the same tf frame of /openni_rgb_optical_frame. Any
> suggestions besides modifying the driver would be very much appreciated.
> Thanks for your time.
> Marc Killpack
> Healthcare Robotics Lab - Georgia Tech
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> ros-users at code.ros.org
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