Package Summary

Tags No category tags.
Version 2.9.2
License GPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orocos/rtt_ros_integration.git
VCS Type git
VCS Version toolchain-2.9
Last Updated 2019-10-25
Dev Status MAINTAINED
Released RELEASED

Package Description

This package contains the components of the rtt_tf package

Additional Links

Maintainers

  • Orocos Developers

Authors

  • Ruben Smits

RTT TF

This package provides an Orocos RTT component for utilizing the TF2 rigid body transform library from within Orocos. This component provides a "tf" service with operations for requesting and broadcasting sing and batch transforms.

Usage

In general, a given process only needs a single TF2 component. This component provides the following operations both on its bare interface and also on the provided "tf" RTT service.

  • "lookupTransform" Lookup the most recent transform from source to target.

    • "target", Target frame
    • "source", Source frame
  • "lookupTransformAtTime" Lookup the most recent transform from source to target at a specific time.

    • "target", Target frame
    • "source", Source frame
    • "common_time", ros::Time The common time at which the transform should be computed
  • "broadcastTransform" Broadcast a stamped transform immediately.

    • "transform", geometry\_msgs::TransformStamped
  • "broadcastTransforms" Broadcast a stamped transform immediately.

    • "transforms", std::vector<geometry_msgs::TransformStamped>

To use these operations, you need to instantiate an rtt_tf::RTT_TF component, and then connect it with whichever components you intend to have use it:

import("rtt_ros");

// Import and load the TF component
ros.import("rtt_tf");
loadComponent("tf","rtt_tf::RTT_TF");

// Connect operations the tf component's provided "tf" service to another
// component's required "tf" service (easily created with the C++ API shown in the
// next section)
loadComponent("my_component","MyComponent");
connectServices("my_component","tf");

C++ API

The rtt_tf/tf_interface.h header includes the rtt_tf::TFInterface class which adds a required service to a given RTT component. This can be used for more easily connecting with the TF2 component.

It can be used to create the RTT service requester "tf" like so:

#include <rtt_tf/tf_interface.h>
//...
class MyComponent : public RTT::TaskContext {
  private:
    rtt_tf::TFInterface tf_;
  public:
    MyComponent(std::string &name) : 
      RTT::TaskContext(name),
      // Add the services
      tf_(this)
    { /* ... */ }

    bool startHook() {
      // Make sure tf is ready & connected
      return tf_.ready();
    }

    void updateHook() {
      // Lookup a transform
      geometry_msgs::TransformStamped tform = tf_.lookupTransform("/world","/my_frame");
      // ...
    }
};


CHANGELOG

Changelog for package rtt_tf

2.9.2 (2019-05-15)

2.9.1 (2017-11-16)

2.9.0 (2017-05-02)

  • Added individual changelogs and bumped versions to 2.9.0
  • Contributors: Johannes Meyer

2.8.6 (2017-11-15)

2.8.5 (2017-03-28)

2.8.4 (2016-11-26)

2.8.3 (2016-07-20)

2.8.2 (2015-06-12)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtt_tf at answers.ros.org

Package Summary

Tags No category tags.
Version 2.9.2
License GPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orocos/rtt_ros_integration.git
VCS Type git
VCS Version toolchain-2.9
Last Updated 2019-10-25
Dev Status MAINTAINED
Released RELEASED

Package Description

This package contains the components of the rtt_tf package

Additional Links

Maintainers

  • Orocos Developers

Authors

  • Ruben Smits

RTT TF

This package provides an Orocos RTT component for utilizing the TF2 rigid body transform library from within Orocos. This component provides a "tf" service with operations for requesting and broadcasting sing and batch transforms.

Usage

In general, a given process only needs a single TF2 component. This component provides the following operations both on its bare interface and also on the provided "tf" RTT service.

  • "lookupTransform" Lookup the most recent transform from source to target.

    • "target", Target frame
    • "source", Source frame
  • "lookupTransformAtTime" Lookup the most recent transform from source to target at a specific time.

    • "target", Target frame
    • "source", Source frame
    • "common_time", ros::Time The common time at which the transform should be computed
  • "broadcastTransform" Broadcast a stamped transform immediately.

    • "transform", geometry\_msgs::TransformStamped
  • "broadcastTransforms" Broadcast a stamped transform immediately.

    • "transforms", std::vector<geometry_msgs::TransformStamped>

To use these operations, you need to instantiate an rtt_tf::RTT_TF component, and then connect it with whichever components you intend to have use it:

import("rtt_ros");

// Import and load the TF component
ros.import("rtt_tf");
loadComponent("tf","rtt_tf::RTT_TF");

// Connect operations the tf component's provided "tf" service to another
// component's required "tf" service (easily created with the C++ API shown in the
// next section)
loadComponent("my_component","MyComponent");
connectServices("my_component","tf");

C++ API

The rtt_tf/tf_interface.h header includes the rtt_tf::TFInterface class which adds a required service to a given RTT component. This can be used for more easily connecting with the TF2 component.

It can be used to create the RTT service requester "tf" like so:

#include <rtt_tf/tf_interface.h>
//...
class MyComponent : public RTT::TaskContext {
  private:
    rtt_tf::TFInterface tf_;
  public:
    MyComponent(std::string &name) : 
      RTT::TaskContext(name),
      // Add the services
      tf_(this)
    { /* ... */ }

    bool startHook() {
      // Make sure tf is ready & connected
      return tf_.ready();
    }

    void updateHook() {
      // Lookup a transform
      geometry_msgs::TransformStamped tform = tf_.lookupTransform("/world","/my_frame");
      // ...
    }
};


CHANGELOG

Changelog for package rtt_tf

2.9.2 (2019-05-15)

2.9.1 (2017-11-16)

2.9.0 (2017-05-02)

  • Added individual changelogs and bumped versions to 2.9.0
  • Contributors: Johannes Meyer

2.8.6 (2017-11-15)

2.8.5 (2017-03-28)

2.8.4 (2016-11-26)

2.8.3 (2016-07-20)

2.8.2 (2015-06-12)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtt_tf at answers.ros.org

Package Summary

Tags No category tags.
Version 2.8.6
License GPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orocos/rtt_ros_integration.git
VCS Type git
VCS Version jade-devel
Last Updated 2018-07-23
Dev Status MAINTAINED
Released RELEASED

Package Description

This package contains the components of the rtt_tf package

Additional Links

Maintainers

  • Orocos Developers

Authors

  • Ruben Smits

RTT TF

This package provides an Orocos RTT component for utilizing the TF rigid body transform library from within Orocos. This component provides a "tf" service with operations for requesting and broadcasting sing and batch transforms.

Usage

In general, a given process only needs a single TF component. This component provides the following operations both on its bare interface and also on the provided "tf" RTT service.

  • "lookupTransform" Lookup the most recent transform from source to target.

    • "target", Target frame
    • "source", Source frame
  • "lookupTransformAtTime" Lookup the most recent transform from source to target at a specific time.

    • "target", Target frame
    • "source", Source frame
    • "common_time", ros::Time The common time at which the transform should be computed
  • "broadcastTransform" Broadcast a stamped transform immediately.

    • "transform", geometry\_msgs::TransformStamped
  • "broadcastTransforms" Broadcast a stamped transform immediately.

    • "transforms", std::vector<geometry_msgs::TransformStamped>

To use these operations, you need to instantiate an rtt_tf::RTT_TF component, and then connect it with whichever components you intend to have use it:

import("rtt_ros");

// Import and load the TF component
ros.import("rtt_tf");
loadComponent("tf","rtt_tf::RTT_TF");

// Connect operations the tf component's provided "tf" service to another
// component's required "tf" service (easily created with the C++ API shown in the
// next section)
loadComponent("my_component","MyComponent");
connectServices("my_component","tf");

C++ API

The rtt_tf/tf_interface.h header includes the rtt_tf::TFInterface class which adds a required service to a given RTT component. This can be used for more easily connecting with the TF component.

It can be used to create the RTT service requester "tf" like so:

#include <rtt_tf/tf_interface.h>
//...
class MyComponent : public RTT::TaskContext {
  private:
    rtt_tf::TFInterface tf_;
  public:
    MyComponent(std::string &name) : 
      RTT::TaskContext(name),
      // Add the services
      tf_(this)
    { /* ... */ }

    bool startHook() {
      // Make sure tf is ready & connected
      return tf_.ready();
    }

    void updateHook() {
      // Lookup a transform
      geometry_msgs::TransformStamped tform = tf_.lookupTransform("/world","/my_frame");
      // ...
    }
};


CHANGELOG

Changelog for package rtt_tf

2.8.6 (2017-11-15)

2.8.5 (2017-03-28)

2.8.4 (2016-11-26)

2.8.3 (2016-07-20)

2.8.2 (2015-06-12)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtt_tf at answers.ros.org

Package Summary

Tags No category tags.
Version 2.8.6
License GPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orocos/rtt_ros_integration.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-07-23
Dev Status MAINTAINED
Released RELEASED

Package Description

This package contains the components of the rtt_tf package

Additional Links

Maintainers

  • Orocos Developers

Authors

  • Ruben Smits

RTT TF

This package provides an Orocos RTT component for utilizing the TF rigid body transform library from within Orocos. This component provides a "tf" service with operations for requesting and broadcasting sing and batch transforms.

Usage

In general, a given process only needs a single TF component. This component provides the following operations both on its bare interface and also on the provided "tf" RTT service.

  • "lookupTransform" Lookup the most recent transform from source to target.

    • "target", Target frame
    • "source", Source frame
  • "lookupTransformAtTime" Lookup the most recent transform from source to target at a specific time.

    • "target", Target frame
    • "source", Source frame
    • "common_time", ros::Time The common time at which the transform should be computed
  • "broadcastTransform" Broadcast a stamped transform immediately.

    • "transform", geometry\_msgs::TransformStamped
  • "broadcastTransforms" Broadcast a stamped transform immediately.

    • "transforms", std::vector<geometry_msgs::TransformStamped>

To use these operations, you need to instantiate an rtt_tf::RTT_TF component, and then connect it with whichever components you intend to have use it:

import("rtt_ros");

// Import and load the TF component
ros.import("rtt_tf");
loadComponent("tf","rtt_tf::RTT_TF");

// Connect operations the tf component's provided "tf" service to another
// component's required "tf" service (easily created with the C++ API shown in the
// next section)
loadComponent("my_component","MyComponent");
connectServices("my_component","tf");

C++ API

The rtt_tf/tf_interface.h header includes the rtt_tf::TFInterface class which adds a required service to a given RTT component. This can be used for more easily connecting with the TF component.

It can be used to create the RTT service requester "tf" like so:

#include <rtt_tf/tf_interface.h>
//...
class MyComponent : public RTT::TaskContext {
  private:
    rtt_tf::TFInterface tf_;
  public:
    MyComponent(std::string &name) : 
      RTT::TaskContext(name),
      // Add the services
      tf_(this)
    { /* ... */ }

    bool startHook() {
      // Make sure tf is ready & connected
      return tf_.ready();
    }

    void updateHook() {
      // Lookup a transform
      geometry_msgs::TransformStamped tform = tf_.lookupTransform("/world","/my_frame");
      // ...
    }
};


CHANGELOG

Changelog for package rtt_tf

2.8.6 (2017-11-15)

2.8.5 (2017-03-28)

2.8.4 (2016-11-26)

2.8.3 (2016-07-20)

2.8.2 (2015-06-12)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtt_tf at answers.ros.org

Package Summary

Tags No category tags.
Version 2.7.2
License GPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orocos/rtt_ros_integration.git
VCS Type git
VCS Version hydro-devel
Last Updated 2015-07-21
Dev Status MAINTAINED
Released RELEASED

Package Description

This package contains the components of the rtt_tf package

Additional Links

Maintainers

  • Orocos Developers

Authors

  • Ruben Smits

RTT TF

This package provides an Orocos RTT component for utilizing the TF rigid body transform library from within Orocos. This component provides a "tf" service with operations for requesting and broadcasting sing and batch transforms.

Usage

In general, a given process only needs a single TF component. This component provides the following operations both on its bare interface and also on the provided "tf" RTT service.

  • "lookupTransform" Lookup the most recent transform from source to target.

    • "target", Target frame
    • "source", Source frame
  • "lookupTransformAtTime" Lookup the most recent transform from source to target at a specific time.

    • "target", Target frame
    • "source", Source frame
    • "common_time", ros::Time The common time at which the transform should be computed
  • "broadcastTransform" Broadcast a stamped transform immediately.

    • "transform", geometry\_msgs::TransformStamped
  • "broadcastTransforms" Broadcast a stamped transform immediately.

    • "transforms", std::vector<geometry_msgs::TransformStamped>

To use these operations, you need to instantiate an rtt_tf::RTT_TF component, and then connect it with whichever components you intend to have use it:

import("rtt_ros");

// Import and load the TF component
ros.import("rtt_tf");
loadComponent("tf","rtt_tf::RTT_TF");

// Connect operations the tf component's provided "tf" service to another
// component's required "tf" service (easily created with the C++ API shown in the
// next section)
loadComponent("my_component","MyComponent");
connectServices("my_component","tf");

C++ API

The rtt_tf/tf_interface.h header includes the rtt_tf::TFInterface class which adds a required service to a given RTT component. This can be used for more easily connecting with the TF component.

It can be used to create the RTT service requester "tf" like so:

#include <rtt_tf/tf_interface.h>
//...
class MyComponent : public RTT::TaskContext {
  private:
    rtt_tf::TFInterface tf_;
  public:
    MyComponent(std::string &name) : 
      RTT::TaskContext(name),
      // Add the services
      tf_(this)
    { /* ... */ }

    bool startHook() {
      // Make sure tf is ready & connected
      return tf_.ready();
    }

    void updateHook() {
      // Lookup a transform
      geometry_msgs::TransformStamped tform = tf_.lookupTransform("/world","/my_frame");
      // ...
    }
};


CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rtt_tf at answers.ros.org