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
---