rocky_tf_monitor package from rocky_tf_monitor repo

rocky_tf_monitor

Package Summary

Tags No category tags.
Version 0.0.1
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/rkoyama1623/rocky_tf_monitor.git
VCS Type git
VCS Version main
Last Updated 2023-11-11
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Debug tool to check tf timestamp, etc.

Additional Links

No additional links.

Maintainers

  • Ryo Koyama

Authors

No additional authors.

rocky_tf_monitor

What is this?

This is a debug tool to monitor ROS tf topic. geometry2 is an ausome library to handle geometric transformations with time stamp, and tf and tf2 is a core library of geometry2.

When utilizing tf/tf2, the following points should be noted.

  1. tf tree can have only one root frame.
  2. Too old timestamp or timestamp in the future sometimes causes a defect of your robot system.

This ROS package provides a means of checking to see if any of the above problems are occurring.

Demo

roslaunch rocky_tf_monitor demo.launch
rosrun rocky_tf_monitor rocky_tf_monitor

screenshot.png

In this demo, invalid /tf topic is demonstrated. Although node /odom_pub publish base_footprint coordinate frame in odom coordinate frame, bug_node also publish base_footprint coordinate frame in map coordinate frame. rqt_tf_tree cannot deal with these kind of problem. By rocky_tf_monitor we can confirm base_footprint has two parent frame, which is indicated by red line.

How to build

cd /path/to/catkin_ws/src
git clone https://github.com/rkoyama1623/rocky_tf_monitor.git
rosdep install --from-path rocky_tf_monitor -iry
cd rocky_tf_monitor
catkin build --this

How to use

rosrun rocky_tf_monitor rocky_tf_monitor

License

MIT

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

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Services

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Plugins

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