tf_to_transform.py¶
What is this?¶
Specific TransformStamped publisher. You specify parent_frame_id and child_frame_id, and this node publish geometry_msgs::TransformStamped. You can define –duration (default=0.1).
Difference from tf_to_pose.py¶
TransformStamped msg carries parent_frame_id and child_frame_id. Otherwise, PoseStamped msg only carries parent_frame_id.
Usage¶
Command Line¶
$ rosrun jsk_topic_tools tf_to_transform.py -h
usage: tf_to_transform.py [-h] [--duration DURATION]
[parent_frame_id] [child_frame_id]
positional arguments:
parent_frame_id parent frame id
child_frame_id child frame id
optional arguments:
-h, --help show this help message and exit
--duration DURATION, -d DURATION
Duration [s]: default=1.0
Param¶
~parent_frame_id (String)
Parent frame id
~child_frame_id (String)
Child frame id
~duration (Float, default=1.0)
Duration
Example¶
$ rosrun jsk_topic_tools transform_publisher.py /base /right_gripper_vacuum_pad_base -d 2.0
$ rostopic echo /transform_publisher/output
header:
seq: 1
stamp:
secs: 1479108976
nsecs: 799304962
frame_id: /base
child_frame_id: /right_gripper_vacuum_pad_base
transform:
translation:
x: 0.614187621295
y: -0.70974742075
z: 0.332638443526
rotation:
x: 0.0231768305754
y: 0.764117456951
z: -0.0773262537191
w: 0.640006247621
---
header:
seq: 2
stamp:
secs: 1479108978
nsecs: 799195051
frame_id: /base
child_frame_id: /right_gripper_vacuum_pad_base
transform:
translation:
x: 0.61417389684
y: -0.709704671921
z: 0.332801975644
rotation:
x: 0.0237198976862
y: 0.764003459868
z: -0.0768511001916
w: 0.640179653038
---