No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
tf_remapper_cpp package from tf_remapper_cpp repotf_remapper_cpp |
|
Package Summary
Tags | No category tags. |
Version | 1.1.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/tradr-project/tf_remapper_cpp.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2019-03-17 |
Dev Status | MAINTAINED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
More efficient version of tf/tf_remap able to handle TFs at kHz with tens of subscribers.
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
TF remapper (more efficient and versatile C++ version)
This package is an alternative to official ROS node tf/tf_remap with the following advantages:
- Works natively with TF2
- that could probably save a few data conversions
-
Performance: handles tens of TF subscribers with thousands of TF messages/sec with ease
- the official node fully utilizes 2 i7 CPU cores if you have 10 subscribers and publish 2000 TF messages per second (ros/geometry#175)
- this package needs about 0.4 CPU cores for the same
- Can also remap
/tf_static
- the official package can not do that correctly
- Can also remove frames (if you pass empty string to
new
)- this can come handy if you e.g. want to recompute your map in bagfiles using a brand new algorithm
- Can work in both ways
- not only taking frames published on
/tf_old
and remapping and publishing them to/tf
, but it can also watch/tf
, perform a reverse remapping, and publish new TF messages to/tf_old
- this can come handy if you e.g. want to run your robot in a restricted world where it does not know about the other robots (it has its own
/map
frame), and then you have a multirobot coordination algorithm which wants to see the maps of each robot as/ugv1/map
,/ugv2/map
and so on, and also wants to publish a/global_map
frame available to all robots.
- not only taking frames published on
- Backwards compatible with tf/tf_remap
- to use this remapper, just change package name from
tf
totf_remapper_cpp
in your launch files - all the new functionality should not endanger the basic usage, since the package is accompanied by an exhaustive test suite
- to use this remapper, just change package name from
-
API Documentation and usage examples
- the remapping logic is available in dynamic library
libtf_remapper_cpp.so
, classTfRemapper
- the remapping logic is available in dynamic library
Nodes
tf_remapper_cpp/tf_remap
The node that performs the TF remapping.
Private parameters
-
mappings
(array of dicts
): The rules for TF frame name remapping, e.g.[{"old": "b", "new": "d"}]
. Each dict presents one remapping rule. Each dict contains keysold
andnew
. If either of these keys is missing or its value is empty string, it means the TF frame should be deleted.- Until ros_comm#1498 is fixed, you can not pass this parameter from
rosrun
commandline - either set it in a launch file, or userosparam set /tf_remapper/mappings '[{"old": "b", "new": "d"}]'
before launching this node.
- Until ros_comm#1498 is fixed, you can not pass this parameter from
-
static_tf
(bool
): Whether the remapper acts on static TFs or not. If not set, it is autodetected fromnew_tf_topic_name
parameter.- Static TFs need special handling, so be sure to have this parameter set correctly, otherwise it can cause performance issues (when used with non-static TFs) or incorrect operation (if not used with static TFs).
- Autodetection checks if the
new_tf_topic_name
istf_static
or/tf_static
, and if it is, thenstatic_tf
is set toTrue
, otherwise it is set toFalse
.
-
old_tf_topic_name
(string
, default'/tf_old'
): The topic on which old TFs are subscribed. -
new_tf_topic_name
(string
, default'/tf'
): The topic on which remapped TFs are published. -
is_bidirectional
(bool
, defaultFalse
): IfTrue
, the remapper will also allow passing TFs published on the “remapped end” to the “old end” via a reverse mapping.- Pay special attention if you use any kind of multimaster solution or a custom topic transport. This node needs CallerIDs to be unchanged. If this contract is broken, the node will probably enter an infinite loop reacting to its own published messages.
Subscribed topics
-
/tf_old
(or any other topic set inold_tf_topic_name
; typetf2_ros/TFMessage
): The original TF messages that are to be remapped. -
/tf
(or any other topic set innew_tf_topic_name
; only ifis_bidirectional == True
; typetf2_ros/TFMessage
): The TF messages with remapped frames. If some node publises to this topic and this remapper is running in bidirectional mode, it sends the newly published transforms back to/tf_old
.
Published topics
-
/tf
(or any other topic set innew_tf_topic_name
; typetf2_ros/ TFMessage
): The TF messages with remapped frames. -
/tf_old
(or any other topic set inold_tf_topic_name
; only ifis_bidirectional == True
; typetf2_ros/TFMessage
): The original TF messages. If some node publises to/tf
and this remapper is running in bidirectional mode, it sends the newly published transforms back to this topic.
Example usage in launch files
simple.launch
<launch>
<group>
<remap from="tf" to="tf_old" />
<!-- The tf(1) static_transform_publisher does not use /tf_static, but periodically publises to /tf -->
<node name="broadcaster_ab" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 a b 10"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}]</rosparam>
</node>
<!-- This node will see transform a->c -->
<node name="my_node" pkg="my_pkg" type="node_type" />
</launch>
static_tf.launch
<launch>
<group>
<remap from="tf_static" to="tf_static_old" />
<!-- The tf2 static_transform_publisher uses /tf_static -->
<node name="broadcaster_ab" pkg="tf2_ros" type="static_transform_publisher" args="1 2 3 4 5 6 a b"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}]</rosparam>
<!--<param name="static_tf" value="true" /> - this is not needed, autodetection works in this case -->
</node>
<!-- This node will see static transform a->c -->
<node name="my_node" pkg="my_pkg" type="node_type" />
</launch>
bidirectional.launch
<launch>
<group>
<remap from="tf" to="tf_old" />
<!-- The tf(1) static_transform_publisher does not use /tf_static, but periodically publises to /tf -->
<node name="broadcaster_ab" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 a b 10"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
<!-- This node will see transforms a->b and d->e -->
<node name="my_node2" pkg="my_pkg" type="node_type" />
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}, {old: e, new: f}]</rosparam>
<param name="is_bidirectional" value="true" />
</node>
<!-- This node will see transforms a->c and d->f -->
<node name="my_node" pkg="my_pkg" type="node_type" />
<node name="broadcaster_df" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 d f 10"/>
</launch>
CHANGELOG
No CHANGELOG found.
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.
Launch files
- test/test_tf_remapper_node_empty_mappings.launch
- test/test_tf_remapper_node_works_if_no_mappings.launch
- test/test_tf_remapper_node_bidi_back.launch
- test/test_tf_remapper_node_bidi_both_static.launch
- test/test_tf_remapper_node_bidi_forward.launch
- test/test_tf_remapper_node_static_with_param.launch
- test/test_tf_remapper_node.launch
- test/test_tf_remapper_node_static.launch
- test/test_tf_remapper_node_bidi_both.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tf_remapper_cpp at Robotics Stack Exchange
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
tf_remapper_cpp package from tf_remapper_cpp repotf_remapper_cpp |
|
Package Summary
Tags | No category tags. |
Version | 1.1.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/tradr-project/tf_remapper_cpp.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2019-03-17 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
More efficient version of tf/tf_remap able to handle TFs at kHz with tens of subscribers.
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
TF remapper (more efficient and versatile C++ version)
This package is an alternative to official ROS node tf/tf_remap with the following advantages:
- Works natively with TF2
- that could probably save a few data conversions
-
Performance: handles tens of TF subscribers with thousands of TF messages/sec with ease
- the official node fully utilizes 2 i7 CPU cores if you have 10 subscribers and publish 2000 TF messages per second (ros/geometry#175)
- this package needs about 0.4 CPU cores for the same
- Can also remap
/tf_static
- the official package can not do that correctly
- Can also remove frames (if you pass empty string to
new
)- this can come handy if you e.g. want to recompute your map in bagfiles using a brand new algorithm
- Can work in both ways
- not only taking frames published on
/tf_old
and remapping and publishing them to/tf
, but it can also watch/tf
, perform a reverse remapping, and publish new TF messages to/tf_old
- this can come handy if you e.g. want to run your robot in a restricted world where it does not know about the other robots (it has its own
/map
frame), and then you have a multirobot coordination algorithm which wants to see the maps of each robot as/ugv1/map
,/ugv2/map
and so on, and also wants to publish a/global_map
frame available to all robots.
- not only taking frames published on
- Backwards compatible with tf/tf_remap
- to use this remapper, just change package name from
tf
totf_remapper_cpp
in your launch files - all the new functionality should not endanger the basic usage, since the package is accompanied by an exhaustive test suite
- to use this remapper, just change package name from
-
API Documentation and usage examples
- the remapping logic is available in dynamic library
libtf_remapper_cpp.so
, classTfRemapper
- the remapping logic is available in dynamic library
Nodes
tf_remapper_cpp/tf_remap
The node that performs the TF remapping.
Private parameters
-
mappings
(array of dicts
): The rules for TF frame name remapping, e.g.[{"old": "b", "new": "d"}]
. Each dict presents one remapping rule. Each dict contains keysold
andnew
. If either of these keys is missing or its value is empty string, it means the TF frame should be deleted.- Until ros_comm#1498 is fixed, you can not pass this parameter from
rosrun
commandline - either set it in a launch file, or userosparam set /tf_remapper/mappings '[{"old": "b", "new": "d"}]'
before launching this node.
- Until ros_comm#1498 is fixed, you can not pass this parameter from
-
static_tf
(bool
): Whether the remapper acts on static TFs or not. If not set, it is autodetected fromnew_tf_topic_name
parameter.- Static TFs need special handling, so be sure to have this parameter set correctly, otherwise it can cause performance issues (when used with non-static TFs) or incorrect operation (if not used with static TFs).
- Autodetection checks if the
new_tf_topic_name
istf_static
or/tf_static
, and if it is, thenstatic_tf
is set toTrue
, otherwise it is set toFalse
.
-
old_tf_topic_name
(string
, default'/tf_old'
): The topic on which old TFs are subscribed. -
new_tf_topic_name
(string
, default'/tf'
): The topic on which remapped TFs are published. -
is_bidirectional
(bool
, defaultFalse
): IfTrue
, the remapper will also allow passing TFs published on the “remapped end” to the “old end” via a reverse mapping.- Pay special attention if you use any kind of multimaster solution or a custom topic transport. This node needs CallerIDs to be unchanged. If this contract is broken, the node will probably enter an infinite loop reacting to its own published messages.
Subscribed topics
-
/tf_old
(or any other topic set inold_tf_topic_name
; typetf2_ros/TFMessage
): The original TF messages that are to be remapped. -
/tf
(or any other topic set innew_tf_topic_name
; only ifis_bidirectional == True
; typetf2_ros/TFMessage
): The TF messages with remapped frames. If some node publises to this topic and this remapper is running in bidirectional mode, it sends the newly published transforms back to/tf_old
.
Published topics
-
/tf
(or any other topic set innew_tf_topic_name
; typetf2_ros/ TFMessage
): The TF messages with remapped frames. -
/tf_old
(or any other topic set inold_tf_topic_name
; only ifis_bidirectional == True
; typetf2_ros/TFMessage
): The original TF messages. If some node publises to/tf
and this remapper is running in bidirectional mode, it sends the newly published transforms back to this topic.
Example usage in launch files
simple.launch
<launch>
<group>
<remap from="tf" to="tf_old" />
<!-- The tf(1) static_transform_publisher does not use /tf_static, but periodically publises to /tf -->
<node name="broadcaster_ab" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 a b 10"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}]</rosparam>
</node>
<!-- This node will see transform a->c -->
<node name="my_node" pkg="my_pkg" type="node_type" />
</launch>
static_tf.launch
<launch>
<group>
<remap from="tf_static" to="tf_static_old" />
<!-- The tf2 static_transform_publisher uses /tf_static -->
<node name="broadcaster_ab" pkg="tf2_ros" type="static_transform_publisher" args="1 2 3 4 5 6 a b"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}]</rosparam>
<!--<param name="static_tf" value="true" /> - this is not needed, autodetection works in this case -->
</node>
<!-- This node will see static transform a->c -->
<node name="my_node" pkg="my_pkg" type="node_type" />
</launch>
bidirectional.launch
<launch>
<group>
<remap from="tf" to="tf_old" />
<!-- The tf(1) static_transform_publisher does not use /tf_static, but periodically publises to /tf -->
<node name="broadcaster_ab" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 a b 10"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
<!-- This node will see transforms a->b and d->e -->
<node name="my_node2" pkg="my_pkg" type="node_type" />
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}, {old: e, new: f}]</rosparam>
<param name="is_bidirectional" value="true" />
</node>
<!-- This node will see transforms a->c and d->f -->
<node name="my_node" pkg="my_pkg" type="node_type" />
<node name="broadcaster_df" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 d f 10"/>
</launch>
CHANGELOG
No CHANGELOG found.
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.
Launch files
- test/test_tf_remapper_node_empty_mappings.launch
- test/test_tf_remapper_node_works_if_no_mappings.launch
- test/test_tf_remapper_node_bidi_back.launch
- test/test_tf_remapper_node_bidi_both_static.launch
- test/test_tf_remapper_node_bidi_forward.launch
- test/test_tf_remapper_node_static_with_param.launch
- test/test_tf_remapper_node.launch
- test/test_tf_remapper_node_static.launch
- test/test_tf_remapper_node_bidi_both.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tf_remapper_cpp at Robotics Stack Exchange
No version for distro jade. Known supported distros are highlighted in the buttons above.
tf_remapper_cpp package from tf_remapper_cpp repotf_remapper_cpp |
|
Package Summary
Tags | No category tags. |
Version | 1.1.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/tradr-project/tf_remapper_cpp.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2019-03-17 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
More efficient version of tf/tf_remap able to handle TFs at kHz with tens of subscribers.
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
TF remapper (more efficient and versatile C++ version)
This package is an alternative to official ROS node tf/tf_remap with the following advantages:
- Works natively with TF2
- that could probably save a few data conversions
-
Performance: handles tens of TF subscribers with thousands of TF messages/sec with ease
- the official node fully utilizes 2 i7 CPU cores if you have 10 subscribers and publish 2000 TF messages per second (ros/geometry#175)
- this package needs about 0.4 CPU cores for the same
- Can also remap
/tf_static
- the official package can not do that correctly
- Can also remove frames (if you pass empty string to
new
)- this can come handy if you e.g. want to recompute your map in bagfiles using a brand new algorithm
- Can work in both ways
- not only taking frames published on
/tf_old
and remapping and publishing them to/tf
, but it can also watch/tf
, perform a reverse remapping, and publish new TF messages to/tf_old
- this can come handy if you e.g. want to run your robot in a restricted world where it does not know about the other robots (it has its own
/map
frame), and then you have a multirobot coordination algorithm which wants to see the maps of each robot as/ugv1/map
,/ugv2/map
and so on, and also wants to publish a/global_map
frame available to all robots.
- not only taking frames published on
- Backwards compatible with tf/tf_remap
- to use this remapper, just change package name from
tf
totf_remapper_cpp
in your launch files - all the new functionality should not endanger the basic usage, since the package is accompanied by an exhaustive test suite
- to use this remapper, just change package name from
-
API Documentation and usage examples
- the remapping logic is available in dynamic library
libtf_remapper_cpp.so
, classTfRemapper
- the remapping logic is available in dynamic library
Nodes
tf_remapper_cpp/tf_remap
The node that performs the TF remapping.
Private parameters
-
mappings
(array of dicts
): The rules for TF frame name remapping, e.g.[{"old": "b", "new": "d"}]
. Each dict presents one remapping rule. Each dict contains keysold
andnew
. If either of these keys is missing or its value is empty string, it means the TF frame should be deleted.- Until ros_comm#1498 is fixed, you can not pass this parameter from
rosrun
commandline - either set it in a launch file, or userosparam set /tf_remapper/mappings '[{"old": "b", "new": "d"}]'
before launching this node.
- Until ros_comm#1498 is fixed, you can not pass this parameter from
-
static_tf
(bool
): Whether the remapper acts on static TFs or not. If not set, it is autodetected fromnew_tf_topic_name
parameter.- Static TFs need special handling, so be sure to have this parameter set correctly, otherwise it can cause performance issues (when used with non-static TFs) or incorrect operation (if not used with static TFs).
- Autodetection checks if the
new_tf_topic_name
istf_static
or/tf_static
, and if it is, thenstatic_tf
is set toTrue
, otherwise it is set toFalse
.
-
old_tf_topic_name
(string
, default'/tf_old'
): The topic on which old TFs are subscribed. -
new_tf_topic_name
(string
, default'/tf'
): The topic on which remapped TFs are published. -
is_bidirectional
(bool
, defaultFalse
): IfTrue
, the remapper will also allow passing TFs published on the “remapped end” to the “old end” via a reverse mapping.- Pay special attention if you use any kind of multimaster solution or a custom topic transport. This node needs CallerIDs to be unchanged. If this contract is broken, the node will probably enter an infinite loop reacting to its own published messages.
Subscribed topics
-
/tf_old
(or any other topic set inold_tf_topic_name
; typetf2_ros/TFMessage
): The original TF messages that are to be remapped. -
/tf
(or any other topic set innew_tf_topic_name
; only ifis_bidirectional == True
; typetf2_ros/TFMessage
): The TF messages with remapped frames. If some node publises to this topic and this remapper is running in bidirectional mode, it sends the newly published transforms back to/tf_old
.
Published topics
-
/tf
(or any other topic set innew_tf_topic_name
; typetf2_ros/ TFMessage
): The TF messages with remapped frames. -
/tf_old
(or any other topic set inold_tf_topic_name
; only ifis_bidirectional == True
; typetf2_ros/TFMessage
): The original TF messages. If some node publises to/tf
and this remapper is running in bidirectional mode, it sends the newly published transforms back to this topic.
Example usage in launch files
simple.launch
<launch>
<group>
<remap from="tf" to="tf_old" />
<!-- The tf(1) static_transform_publisher does not use /tf_static, but periodically publises to /tf -->
<node name="broadcaster_ab" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 a b 10"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}]</rosparam>
</node>
<!-- This node will see transform a->c -->
<node name="my_node" pkg="my_pkg" type="node_type" />
</launch>
static_tf.launch
<launch>
<group>
<remap from="tf_static" to="tf_static_old" />
<!-- The tf2 static_transform_publisher uses /tf_static -->
<node name="broadcaster_ab" pkg="tf2_ros" type="static_transform_publisher" args="1 2 3 4 5 6 a b"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}]</rosparam>
<!--<param name="static_tf" value="true" /> - this is not needed, autodetection works in this case -->
</node>
<!-- This node will see static transform a->c -->
<node name="my_node" pkg="my_pkg" type="node_type" />
</launch>
bidirectional.launch
<launch>
<group>
<remap from="tf" to="tf_old" />
<!-- The tf(1) static_transform_publisher does not use /tf_static, but periodically publises to /tf -->
<node name="broadcaster_ab" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 a b 10"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
<!-- This node will see transforms a->b and d->e -->
<node name="my_node2" pkg="my_pkg" type="node_type" />
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}, {old: e, new: f}]</rosparam>
<param name="is_bidirectional" value="true" />
</node>
<!-- This node will see transforms a->c and d->f -->
<node name="my_node" pkg="my_pkg" type="node_type" />
<node name="broadcaster_df" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 d f 10"/>
</launch>
CHANGELOG
No CHANGELOG found.
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.
Launch files
- test/test_tf_remapper_node_empty_mappings.launch
- test/test_tf_remapper_node_works_if_no_mappings.launch
- test/test_tf_remapper_node_bidi_back.launch
- test/test_tf_remapper_node_bidi_both_static.launch
- test/test_tf_remapper_node_bidi_forward.launch
- test/test_tf_remapper_node_static_with_param.launch
- test/test_tf_remapper_node.launch
- test/test_tf_remapper_node_static.launch
- test/test_tf_remapper_node_bidi_both.launch
Messages
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Recent questions tagged tf_remapper_cpp at Robotics Stack Exchange
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tf_remapper_cpp package from tf_remapper_cpp repotf_remapper_cpp |
|
Package Summary
Tags | No category tags. |
Version | 1.1.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/tradr-project/tf_remapper_cpp.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2019-03-17 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
More efficient version of tf/tf_remap able to handle TFs at kHz with tens of subscribers.
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
TF remapper (more efficient and versatile C++ version)
This package is an alternative to official ROS node tf/tf_remap with the following advantages:
- Works natively with TF2
- that could probably save a few data conversions
-
Performance: handles tens of TF subscribers with thousands of TF messages/sec with ease
- the official node fully utilizes 2 i7 CPU cores if you have 10 subscribers and publish 2000 TF messages per second (ros/geometry#175)
- this package needs about 0.4 CPU cores for the same
- Can also remap
/tf_static
- the official package can not do that correctly
- Can also remove frames (if you pass empty string to
new
)- this can come handy if you e.g. want to recompute your map in bagfiles using a brand new algorithm
- Can work in both ways
- not only taking frames published on
/tf_old
and remapping and publishing them to/tf
, but it can also watch/tf
, perform a reverse remapping, and publish new TF messages to/tf_old
- this can come handy if you e.g. want to run your robot in a restricted world where it does not know about the other robots (it has its own
/map
frame), and then you have a multirobot coordination algorithm which wants to see the maps of each robot as/ugv1/map
,/ugv2/map
and so on, and also wants to publish a/global_map
frame available to all robots.
- not only taking frames published on
- Backwards compatible with tf/tf_remap
- to use this remapper, just change package name from
tf
totf_remapper_cpp
in your launch files - all the new functionality should not endanger the basic usage, since the package is accompanied by an exhaustive test suite
- to use this remapper, just change package name from
-
API Documentation and usage examples
- the remapping logic is available in dynamic library
libtf_remapper_cpp.so
, classTfRemapper
- the remapping logic is available in dynamic library
Nodes
tf_remapper_cpp/tf_remap
The node that performs the TF remapping.
Private parameters
-
mappings
(array of dicts
): The rules for TF frame name remapping, e.g.[{"old": "b", "new": "d"}]
. Each dict presents one remapping rule. Each dict contains keysold
andnew
. If either of these keys is missing or its value is empty string, it means the TF frame should be deleted.- Until ros_comm#1498 is fixed, you can not pass this parameter from
rosrun
commandline - either set it in a launch file, or userosparam set /tf_remapper/mappings '[{"old": "b", "new": "d"}]'
before launching this node.
- Until ros_comm#1498 is fixed, you can not pass this parameter from
-
static_tf
(bool
): Whether the remapper acts on static TFs or not. If not set, it is autodetected fromnew_tf_topic_name
parameter.- Static TFs need special handling, so be sure to have this parameter set correctly, otherwise it can cause performance issues (when used with non-static TFs) or incorrect operation (if not used with static TFs).
- Autodetection checks if the
new_tf_topic_name
istf_static
or/tf_static
, and if it is, thenstatic_tf
is set toTrue
, otherwise it is set toFalse
.
-
old_tf_topic_name
(string
, default'/tf_old'
): The topic on which old TFs are subscribed. -
new_tf_topic_name
(string
, default'/tf'
): The topic on which remapped TFs are published. -
is_bidirectional
(bool
, defaultFalse
): IfTrue
, the remapper will also allow passing TFs published on the “remapped end” to the “old end” via a reverse mapping.- Pay special attention if you use any kind of multimaster solution or a custom topic transport. This node needs CallerIDs to be unchanged. If this contract is broken, the node will probably enter an infinite loop reacting to its own published messages.
Subscribed topics
-
/tf_old
(or any other topic set inold_tf_topic_name
; typetf2_ros/TFMessage
): The original TF messages that are to be remapped. -
/tf
(or any other topic set innew_tf_topic_name
; only ifis_bidirectional == True
; typetf2_ros/TFMessage
): The TF messages with remapped frames. If some node publises to this topic and this remapper is running in bidirectional mode, it sends the newly published transforms back to/tf_old
.
Published topics
-
/tf
(or any other topic set innew_tf_topic_name
; typetf2_ros/ TFMessage
): The TF messages with remapped frames. -
/tf_old
(or any other topic set inold_tf_topic_name
; only ifis_bidirectional == True
; typetf2_ros/TFMessage
): The original TF messages. If some node publises to/tf
and this remapper is running in bidirectional mode, it sends the newly published transforms back to this topic.
Example usage in launch files
simple.launch
<launch>
<group>
<remap from="tf" to="tf_old" />
<!-- The tf(1) static_transform_publisher does not use /tf_static, but periodically publises to /tf -->
<node name="broadcaster_ab" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 a b 10"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}]</rosparam>
</node>
<!-- This node will see transform a->c -->
<node name="my_node" pkg="my_pkg" type="node_type" />
</launch>
static_tf.launch
<launch>
<group>
<remap from="tf_static" to="tf_static_old" />
<!-- The tf2 static_transform_publisher uses /tf_static -->
<node name="broadcaster_ab" pkg="tf2_ros" type="static_transform_publisher" args="1 2 3 4 5 6 a b"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}]</rosparam>
<!--<param name="static_tf" value="true" /> - this is not needed, autodetection works in this case -->
</node>
<!-- This node will see static transform a->c -->
<node name="my_node" pkg="my_pkg" type="node_type" />
</launch>
bidirectional.launch
<launch>
<group>
<remap from="tf" to="tf_old" />
<!-- The tf(1) static_transform_publisher does not use /tf_static, but periodically publises to /tf -->
<node name="broadcaster_ab" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 a b 10"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
<!-- This node will see transforms a->b and d->e -->
<node name="my_node2" pkg="my_pkg" type="node_type" />
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}, {old: e, new: f}]</rosparam>
<param name="is_bidirectional" value="true" />
</node>
<!-- This node will see transforms a->c and d->f -->
<node name="my_node" pkg="my_pkg" type="node_type" />
<node name="broadcaster_df" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 d f 10"/>
</launch>
CHANGELOG
No CHANGELOG found.
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.
Launch files
- test/test_tf_remapper_node_empty_mappings.launch
- test/test_tf_remapper_node_works_if_no_mappings.launch
- test/test_tf_remapper_node_bidi_back.launch
- test/test_tf_remapper_node_bidi_both_static.launch
- test/test_tf_remapper_node_bidi_forward.launch
- test/test_tf_remapper_node_static_with_param.launch
- test/test_tf_remapper_node.launch
- test/test_tf_remapper_node_static.launch
- test/test_tf_remapper_node_bidi_both.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tf_remapper_cpp at Robotics Stack Exchange
tf_remapper_cpp package from tf_remapper_cpp repotf_remapper_cpp |
|
Package Summary
Tags | No category tags. |
Version | 1.1.1 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/tradr-project/tf_remapper_cpp.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2019-03-17 |
Dev Status | MAINTAINED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
More efficient version of tf/tf_remap able to handle TFs at kHz with tens of subscribers.
Additional Links
Maintainers
- Martin Pecka
Authors
- Martin Pecka
TF remapper (more efficient and versatile C++ version)
This package is an alternative to official ROS node tf/tf_remap with the following advantages:
- Works natively with TF2
- that could probably save a few data conversions
-
Performance: handles tens of TF subscribers with thousands of TF messages/sec with ease
- the official node fully utilizes 2 i7 CPU cores if you have 10 subscribers and publish 2000 TF messages per second (ros/geometry#175)
- this package needs about 0.4 CPU cores for the same
- Can also remap
/tf_static
- the official package can not do that correctly
- Can also remove frames (if you pass empty string to
new
)- this can come handy if you e.g. want to recompute your map in bagfiles using a brand new algorithm
- Can work in both ways
- not only taking frames published on
/tf_old
and remapping and publishing them to/tf
, but it can also watch/tf
, perform a reverse remapping, and publish new TF messages to/tf_old
- this can come handy if you e.g. want to run your robot in a restricted world where it does not know about the other robots (it has its own
/map
frame), and then you have a multirobot coordination algorithm which wants to see the maps of each robot as/ugv1/map
,/ugv2/map
and so on, and also wants to publish a/global_map
frame available to all robots.
- not only taking frames published on
- Backwards compatible with tf/tf_remap
- to use this remapper, just change package name from
tf
totf_remapper_cpp
in your launch files - all the new functionality should not endanger the basic usage, since the package is accompanied by an exhaustive test suite
- to use this remapper, just change package name from
-
API Documentation and usage examples
- the remapping logic is available in dynamic library
libtf_remapper_cpp.so
, classTfRemapper
- the remapping logic is available in dynamic library
Nodes
tf_remapper_cpp/tf_remap
The node that performs the TF remapping.
Private parameters
-
mappings
(array of dicts
): The rules for TF frame name remapping, e.g.[{"old": "b", "new": "d"}]
. Each dict presents one remapping rule. Each dict contains keysold
andnew
. If either of these keys is missing or its value is empty string, it means the TF frame should be deleted.- Until ros_comm#1498 is fixed, you can not pass this parameter from
rosrun
commandline - either set it in a launch file, or userosparam set /tf_remapper/mappings '[{"old": "b", "new": "d"}]'
before launching this node.
- Until ros_comm#1498 is fixed, you can not pass this parameter from
-
static_tf
(bool
): Whether the remapper acts on static TFs or not. If not set, it is autodetected fromnew_tf_topic_name
parameter.- Static TFs need special handling, so be sure to have this parameter set correctly, otherwise it can cause performance issues (when used with non-static TFs) or incorrect operation (if not used with static TFs).
- Autodetection checks if the
new_tf_topic_name
istf_static
or/tf_static
, and if it is, thenstatic_tf
is set toTrue
, otherwise it is set toFalse
.
-
old_tf_topic_name
(string
, default'/tf_old'
): The topic on which old TFs are subscribed. -
new_tf_topic_name
(string
, default'/tf'
): The topic on which remapped TFs are published. -
is_bidirectional
(bool
, defaultFalse
): IfTrue
, the remapper will also allow passing TFs published on the “remapped end” to the “old end” via a reverse mapping.- Pay special attention if you use any kind of multimaster solution or a custom topic transport. This node needs CallerIDs to be unchanged. If this contract is broken, the node will probably enter an infinite loop reacting to its own published messages.
Subscribed topics
-
/tf_old
(or any other topic set inold_tf_topic_name
; typetf2_ros/TFMessage
): The original TF messages that are to be remapped. -
/tf
(or any other topic set innew_tf_topic_name
; only ifis_bidirectional == True
; typetf2_ros/TFMessage
): The TF messages with remapped frames. If some node publises to this topic and this remapper is running in bidirectional mode, it sends the newly published transforms back to/tf_old
.
Published topics
-
/tf
(or any other topic set innew_tf_topic_name
; typetf2_ros/ TFMessage
): The TF messages with remapped frames. -
/tf_old
(or any other topic set inold_tf_topic_name
; only ifis_bidirectional == True
; typetf2_ros/TFMessage
): The original TF messages. If some node publises to/tf
and this remapper is running in bidirectional mode, it sends the newly published transforms back to this topic.
Example usage in launch files
simple.launch
<launch>
<group>
<remap from="tf" to="tf_old" />
<!-- The tf(1) static_transform_publisher does not use /tf_static, but periodically publises to /tf -->
<node name="broadcaster_ab" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 a b 10"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}]</rosparam>
</node>
<!-- This node will see transform a->c -->
<node name="my_node" pkg="my_pkg" type="node_type" />
</launch>
static_tf.launch
<launch>
<group>
<remap from="tf_static" to="tf_static_old" />
<!-- The tf2 static_transform_publisher uses /tf_static -->
<node name="broadcaster_ab" pkg="tf2_ros" type="static_transform_publisher" args="1 2 3 4 5 6 a b"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}]</rosparam>
<!--<param name="static_tf" value="true" /> - this is not needed, autodetection works in this case -->
</node>
<!-- This node will see static transform a->c -->
<node name="my_node" pkg="my_pkg" type="node_type" />
</launch>
bidirectional.launch
<launch>
<group>
<remap from="tf" to="tf_old" />
<!-- The tf(1) static_transform_publisher does not use /tf_static, but periodically publises to /tf -->
<node name="broadcaster_ab" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 a b 10"/>
<!-- Usually, there would be e.g. a rosbag play instead of the static tf publisher. -->
<!-- This node will see transforms a->b and d->e -->
<node name="my_node2" pkg="my_pkg" type="node_type" />
</group>
<node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
<rosparam param="mappings">[{old: b, new: c}, {old: e, new: f}]</rosparam>
<param name="is_bidirectional" value="true" />
</node>
<!-- This node will see transforms a->c and d->f -->
<node name="my_node" pkg="my_pkg" type="node_type" />
<node name="broadcaster_df" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 d f 10"/>
</launch>
CHANGELOG
No CHANGELOG found.
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.
Launch files
- test/test_tf_remapper_node_empty_mappings.launch
- test/test_tf_remapper_node_works_if_no_mappings.launch
- test/test_tf_remapper_node_bidi_back.launch
- test/test_tf_remapper_node_bidi_both_static.launch
- test/test_tf_remapper_node_bidi_forward.launch
- test/test_tf_remapper_node_static_with_param.launch
- test/test_tf_remapper_node.launch
- test/test_tf_remapper_node_static.launch
- test/test_tf_remapper_node_bidi_both.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.