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Transfer Function TF ROS

The tf package in ROS allows tracking coordinate frame transformations over time as a tree. It handles broadcasting frame transformations and provides libraries for transforming between frames. Listeners can look up transformations between frames and wait for transforms to become available. tf works with both static and dynamic transformations and can transform points and vectors between frames. It handles coordinate frames for both real and simulated robots defined in URDF models.

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Syed Abdul Haseeb Ahmed
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© © All Rights Reserved
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305 views

Transfer Function TF ROS

The tf package in ROS allows tracking coordinate frame transformations over time as a tree. It handles broadcasting frame transformations and provides libraries for transforming between frames. Listeners can look up transformations between frames and wait for transforms to become available. tf works with both static and dynamic transformations and can transform points and vectors between frames. It handles coordinate frames for both real and simulated robots defined in URDF models.

Uploaded by

Syed Abdul Haseeb Ahmed
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Managing Coordinate

Frames with ROS


Joo Bimbo
King's College London
Part I

Tutorial

Introduction The tf package


The tf package allows the tracking over time of
coordinate systems tree(s)

Allows the easily creation of new frames (static or


dynamic)

Eases the process of transforming points, vectors,


etc.

Distributed system no centralised storage

Caches the past information on the transforms

The tf coordinate frame tree


A tree of the current coordinate frame can be generated using the
command: rosrun tf view_frames

The output is a pdf file containing the different frames, their publishing
frequency, the relevant node, etc.

Other tf commands

rosrun tf tf_echo

rosrun tf tf_monitor

rosrun tf static_transform_publisher:
Usage: rosrun tf static_transform_publisher x y z yaw
pitch roll frame_id child_frame_id period(milliseconds)

OR
Usage: rosrun tf static_transform_publisher x y z qx qy
qz qw frame_id child_frame_id period(milliseconds)

tf Python/C++ library

Broadcasters create new frames and defines the transformations:

Python:
br = tf.TransformBroadcaster()
br.sendTransform(x,y,z,rot,Time, frame1 , frame2 )

C++:
static tf::TransformBroadcaster br;
tf::Transform transform;
transform.setOrigin(tf::Vector3);
transform.setRotation( tf::Quaternion(r, p, y) );
br.sendTransform(tf::StampedTransform(transform,Time, "frame1",
frame2 ));

tf Python/C++ library
Listeners read the current tree of transforms and compute the transform
between two frames in the same tree

Python:

listener = tf.TransformListener()
(trans,rot)=listener.lookupTransform('/frame1','/frame2',
rospy.Time(0))

C++:
tf::TransformListener listener;
tf::StampedTransform transform;
listener.lookupTransform("/turtle2", "/turtle1",ros::Time(0),
transform);

tf and time
Because not every transform is available at all times, it is advisable to use
the following code block (wrap around a try/catch):

Try {
ros::Time now = ros::Time::now();
listener.waitForTransform("/frame2","/frame1",now,ros::Duration(3.0));
listener.lookupTransform("/turtle2", "/turtle1",now, transform); }

ROS can also deal with transformations in the past:

listener.lookupTransform("/frame2",now,"/frame1", past,"/world", transform);

URDF robot model


A Unified Robot Description Format model can be used to calculate the
kinematics, add new coordinate frames and moving them according to
encoder values from the robot.

URDF model can also include other physical properties such as inertia,
collisions, joint dynamics, etc.

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