Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Inverse of geometry_msgs/pose

geometry_msgs

asked 2015-03-17 13:48:13 -0600

2ROS0

1133 ●70 ●89 ●102

What's the best way to find the inverse of a geometry_msgs/Pose message?

Or in general to perform any other matrix manipulations. Does ROS provide a library or functions to do so? And if not, which is the default method used by the ROS community?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2015-03-17 15:19:49 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

If with "inverse of pose" you mean something that deals with transforms and their inverses, then you're probably looking for the tf system in ROS.

If you're just starting with this, tf2 might actually be better, as it is the successor to tf.

See the various tutorials for more info on how to use both.

edit flag offensive delete link

Comments

The "pose" in my case represents a child coordinate frame (frame B) in parent coordinates (frame A). I want to find out the inverse of that (A in coordinates of B).