[ros-users] remapping tf frames

[Marc Killpack]

Thanks Pat,

I posted the question to answers.ros.org even though there is a ticket.
Hopefully,
it will still be useful if someone has the same question in the near
future.  I would
appreciate seeing your patch when you get the chance.  There is no rush, but
having
an example of how to use the ~tf_prefix parameter would be helpful.  Thanks
again.

marc


Date: Sun, 20 Feb 2011 09:36:41 -0800
> From: Patrick Bouffard <bouffard at eecs.berkeley.edu>
> Subject: Re: [ros-users] remapping tf frames
> To: User discussions <ros-users at code.ros.org>
> Message-ID:
>        <AANLkTinjnz_PB9-XFHp7TkgmhXGVZ7s+Z-m_v7osP_qE at mail.gmail.com>
> Content-Type: text/plain; charset=ISO-8859-1
>
> 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.
>
> Pat
>
> 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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