A Systematic Approach to Learning Robot Programming with ROS

CHAPTER 4

Coordinate Transforms in ROS

CONTENTS

4.1 Introduction to coordinate transforms in ROS

4.2 Transform listener

4.3 Using Eigen library

4.4 Transforming ROS datatypes

4.5 Wrap-Up

INTRODUCTION

Reconciliation of coordinates is necessary to take advantage of sensor-driven behaviors, whether in simulation or in physical control. Coordinating data from multiple models and sensors is accomplished through coordinate transformations. Fortunately, ROS provides extensive support for coordinate transformations. Since transforms are ubiquitous in ROS and in robotics in general, it is important to have an understanding of how coordinate transforms are handled in ROS. coordinate transforms

4.1 Introduction to coordinate transforms in ROS

 

Coordinate ...