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publish_pose_from_tf

A simple ROS node to publish geometry_msgs/PoseStamped from listened tf.

The node lookups transform between base_frame and pose_frame for current time and publishes pose_frame's pose relative to base_frame if the transform available.

Usage

rosrun publish_pose_from_tf publish_pose_from_tf _base_frame:=map _pose_frame:=base_link

Published topic

  • ~pose (geometry_msgs/PoseStamped)

    pose_frame's pose relative to base_frame.

    Timestamp is same to the transform lookuped.

Parameters

  • ~base_frame (string)

    Used as output pose's reference coordinate

  • ~pose_frame (string)

    This frame's pose relative to base_frame will be published as geometry_msgs/PoseStamped

  • ~timeout (double, default: 1.0)

    Timeout(sec) for lookup transform between base_frame and pose_frame