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Please see this page for information on how to submit your repository to our index. Package Summary Documented tf is a package that lets the user keep track of multiple coordinate frames over time.
As well as adding a few new features. As tf2 is a major change the tf API has been maintained in its current form. Since tf2 has a superset of the tf features with a subset of the dependencies the tf implementation has been removed and replaced with calls to tf2 under the hood.
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This will mean that all users will be compatible with tf2. It is recommended for new work to use tf2 directly as it has a cleaner interface. However tf will continue to be supported for through at least J Turtle. Why should I use tf?
You want to see what tf can do instead of just reading about it? Check out the tf introduction demo. A robotic system typically has many 3D coordinate frames that change over time , such as a world frame, base frame, gripper frame, head frame, etc.
What is the pose of the object in my gripper relative to my base?
PR2 Coordinate Frames
What is the current pose of the base frame in the map frame? This means all the information about the coordinate frames of a robot is available to all ROS components on any computer in the system. There is no central server of transform information.
You can get started on the introduction to tf tutorial. For a complete list of all tf and tf-related tutorials check out the tutorials page. There are essentially two tasks that any user would use tf for, listening for transforms and broadcasting transforms.
Anyone using tf will need to listen for transforms: Listening for transforms - Receive and buffer all coordinate frames that are broadcasted in the system, and query for specific transforms between frames. To extend the capabilities of a robot you will need to start broadcasting transforms.
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Broadcasting transforms - Send out the relative pose of coordinate frames to the rest of the system. A system can have many broadcasters that each provide information about a different part of the robot.
Once you are finished with the basic tutorials, you can move on to learn about tf and time. The period, in milliseconds, specifies how often to send a transform.
This plugin will analyze your current tf configuration and attempt to find common problems. This is mainly used with out-of-date bag files that need their coordinate frame IDs updated.
This is usually published by remapping playback of a bag file. Each dictionary in the list must have an "old" and "new" key.
Keywords Transformation, Transformations, coordinate transform Wiki: tf last edited by jarvisschultz. User Login. Documentation Status. No API documentation.
Continuous Integration. Contents What does tf do?