Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
jazzy

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
kilted

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
rolling

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
iron

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange

Package symbol

message_tf_frame_transformer package from message_tf_frame_transformer repo

message_tf_frame_transformer

ROS Distro
noetic

Package Summary

Tags No category tags.
Version 1.1.2
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-06-30
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Transforms messages of arbitrary type to a different frame using tf2::doTransform

Additional Links

No additional links.

Maintainers

  • Lennart Reiher

Authors

  • Lennart Reiher

message_tf_frame_transformer

The message_tf_frame_transformer package provides a ROS node to transform messages of arbitrary type to a different coordinate frame. This can be helpful if you cannot or do not want to modify the source code of other ROS nodes that require your data to be valid in a specific coordinate frame. Simply launch the message_tf_frame_transformer node and transform arbitrary messages to a target coordinate frame.

Installation

The message_tf_frame_transformer package is released as an official ROS package and can easily be installed via a package manager.

sudo apt install ros-$ROS_DISTRO-message-tf-frame-transformer

If you would like to install message_tf_frame_transformer from source, simply clone this repository into your ROS workspace. All dependencies that are listed in the ROS package.xml can be installed using rosdep.

# message_tf_frame_transformer$
rosdep install -r --ignore-src --from-paths .

# workspace$
colcon build --packages-up-to message_tf_frame_transformer --cmake-args -DCMAKE_BUILD_TYPE=Release

docker-ros

message_tf_frame_transformer is also available as a Docker image, containerized through docker-ros.

docker run --rm ghcr.io/ika-rwth-aachen/message_tf_frame_transformer:latest # or distro-specific tags, e.g., :rolling

Usage

In order to transform messages on topic $INPUT_TOPIC to frame $TARGET_FRAME_ID and publish them to topic $OUTPUT_TOPIC, the message_tf_frame_transformer node can be started with the following topic remappings and parameter setting. Only the target_frame_id parameter is required. The source_frame_id parameter is only required for non-stamped messages without an std_msgs/Header. The topics default to ~/input and ~/transformed in the node’s private namespace.

ros2 run message_tf_frame_transformer message_tf_frame_transformer --ros-args \
  -r \~/input:=$INPUT_TOPIC \
  -r \~/transformed:=$OUTPUT_TOPIC \
  -p source_frame_id:=$SOURCE_FRAME_ID \
  -p target_frame_id:=$TARGET_FRAME_ID

The provided launch file enables you to directly launch a tf2_ros/static_transform_publisher alongside the message_tf_frame_transformer node. This way you can transform a topic to a new coordinate frame with a single command.

ros2 launch message_tf_frame_transformer message_tf_frame_transformer.launch.xml \
  input_topic:=$INPUT_TOPIC \
  output_topic:=$OUTPUT_TOPIC \
  source_frame_id:=$SOURCE_FRAME_ID \
  target_frame_id:=$TARGET_FRAME_ID \
  x:=$X \
  y:=$Y \
  z:=$Z \
  roll:=$ROLL \
  pitch:=$PITCH \
  yaw:=$YAW

Supported Message Types

The message_tf_frame_transformer package is able to support any ROS message type that integrates with tf2::doTransform. Currently, the following message types are explicitly supported.

ROS Message Remarks
geometry_msgs/msg/Point  
geometry_msgs/msg/PointStamped  
geometry_msgs/msg/Pose  
geometry_msgs/msg/PoseStamped  
geometry_msgs/msg/PoseWithCovariance  
geometry_msgs/msg/PoseWithCovarianceStamped  
geometry_msgs/msg/Quaternion  
geometry_msgs/msg/QuaternionStamped  
geometry_msgs/msg/Transform  
geometry_msgs/msg/TransformStamped  
geometry_msgs/msg/Vector3  
geometry_msgs/msg/Vector3Stamped  
geometry_msgs/msg/Wrench  
geometry_msgs/msg/WrenchStamped  
perception_msgs/msg/EgoData  
perception_msgs/msg/Object  
perception_msgs/msg/ObjectList  

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package message_tf_frame_transformer

1.1.2 (2024-06-06)

1.1.1 (2024-03-19)

  • Merge pull request #3 from clalancette/clalancette/fix-compile-error Fix a compile error with modern rclcpp.
  • Contributors: Lennart Reiher

1.1.0 (2023-06-10)

  • integrate docker-ros
  • add support for ros2 iron
  • add remark for pointcloud2 closes #1
  • Contributors: Lennart Reiher

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
geometry_msgs
perception_msgs
perception_msgs_utils
rclcpp
route_planning_msgs
route_planning_msgs_utils
sensor_msgs
tf2
tf2_geometry_msgs
tf2_perception_msgs
tf2_ros
tf2_route_planning_msgs
tf2_sensor_msgs
tf2_trajectory_planning_msgs
trajectory_planning_msgs
trajectory_planning_msgs_utils

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/message_tf_frame_transformer.launch.xml
      • input_topic [default: ~/input]
      • output_topic [default: ~/transformed]
      • source_frame_id
      • target_frame_id
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged message_tf_frame_transformer at Robotics Stack Exchange