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How to add a static frame with respect to odom at the place of another frame?

asked 2017-05-02 04:15:31 -0600

hc
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I want to add a fixed placed at the same location of the camera_frame. The camera is attached to the robot and so is the camera_frame. However the frame moves along with the robot. I can add a static frame camera_frame_fixed at the location using a ROS node. The node would listen to the transform between the odom and camera _frame once, store the values, and then publish a static transform between odom and the camera_frame_fixed using these values. Is there another way to do this without creating a ros node?

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answered 2017-05-02 07:32:33 -0600

Stefan Kohlbrecher

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As you might know, you can always quickly publish tf transforms via the static transform publisher:

rosrun tf static_transform_publisher 0.2 0.1 0.0 0.0 0.0 0.0 base_link camera_frame 1000

That being said, your application sounds rather specialized, so I don't think you'll get around writing a small Python node for achieving what you want.

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Writing the node is easy. As I state in the sub question, that method exists. And I have done that before. Is there some other way to add it? The static transform requires values to be known. And they must somehow be read once, stored and substituted.

hc ( 2017-05-02 14:05:59 -0600 )edit

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Asked: 2017-05-02 04:15:31 -0600

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Last updated: May 02 '17

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How to add a static frame with respect to odom at the place of another frame?