Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

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

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file

Repository Summary

Checkout URI https://github.com/ika-rwth-aachen/message_tf_frame_transformer.git
VCS Type git
VCS Version main
Last Updated 2025-08-18
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
message_tf_frame_transformer 1.1.3

README

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., :ros2-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
geometry_msgs/msg/Point
geometry_msgs/msg/Point32
geometry_msgs/msg/PointStamped
geometry_msgs/msg/Polygon
geometry_msgs/msg/PolygonStamped
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

File truncated at 100 lines see the full file