[ros-users] tf MUX?

Tully Foote tfoote at willowgarage.com
Fri Mar 11 03:43:28 UTC 2011

Hi Travis,

Could you ask this on answers.ros.org.  I think others will benefit from
this question there in the future


On Thu, Mar 10, 2011 at 1:30 PM, Travis Deyle <beambot at gmail.com> wrote:

> I'm running up against a wall in the form of tf's tree restrictions.
> Namely, I'd like to have both gmapping and amcl running simultaneously (long
> story), but both publish XXX => odom_combined (naturally, the parent frame
> is param-configurable).  The problem is, that tf (apparently) does not allow
> multiple parents (eg. it forces it to be a tree), and there doesn't seem to
> be a way to flip the directionality of the transform (odom_combined =>
> XXX).
> I thought perhaps tf_remap or tf_prefix would fit the bill... but after a
> few hours of experimentation, both approaches still end up in this same
> problem.  I guess... what I'm really looking for is something akin to
> topic_tools/mux only for tf topics.  Then I could just flip the mux when I
> want one transform or another.
> Has anyone found a good solution to this sort of problem?
> ~Travis Deyle
> PhD student @ Georgia Tech's Healthcare Robotics Lab
> Co-Founder www.Hizook.com -- Robotics News for Academics & Professionals
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Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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