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rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

Repo symbol

rocky_tf_monitor repository

rocky_tf_monitor

Repository Summary

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

Packages

Name Version
rocky_tf_monitor 0.0.1

README

rocky_tf_monitor

What is this?

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

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

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

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

Demo

roslaunch rocky_tf_monitor demo.launch
rosrun rocky_tf_monitor rocky_tf_monitor

screenshot.png

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

How to build

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

How to use

rosrun rocky_tf_monitor rocky_tf_monitor

License

MIT