[ros-users] remapping tf frames

Patrick Bouffard bouffard at eecs.berkeley.edu
Sun Feb 20 17:36:41 UTC 2011

Also I just noticed there is a ticket about this that's about 5 weeks
old: https://code.ros.org/trac/ros-pkg/ticket/4688.


On Sat, Feb 19, 2011 at 10:06 AM, Patrick Bouffard
<bouffard at eecs.berkeley.edu> wrote:
> Hi Marc,
> 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
> /pelican1/<original_frame_id>.
> 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:
> https://github.com/ros-pkg-git/ni/blob/rewrite/openni_camera/launch/openni_node.launch
> HTH,
> Pat
> 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:
>> Hi,
>> 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.
>> Sincerely,
>> Marc Killpack
>> Healthcare Robotics Lab - Georgia Tech
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