# Package Summary

This package provides a gui program as well as a rviz plugin to publish static transforms. Both support the transformation between various Euler angle representations. The rviz plugin also allows to configure the transform with an interactive marker.

- Maintainer status: maintained
- Maintainer: Robert Haschke <rhaschke AT techfak.uni-bielefeld DOT de>
- Author: Robert Haschke <rhaschke AT techfak.uni-bielefeld DOT de>
- License: BSD
- Source: git https://github.com/ubi-agni/agni_tf_tools.git (branch: master)

# Package Summary

This package provides a gui program as well as a rviz plugin to publish static transforms. Both support the transformation between various Euler angle representations. The rviz plugin also allows to configure the transform with an interactive marker.

- Maintainer status: maintained
- Maintainer: Robert Haschke <rhaschke AT techfak.uni-bielefeld DOT de>
- Author: Robert Haschke <rhaschke AT techfak.uni-bielefeld DOT de>
- License: BSD
- Source: git https://github.com/ubi-agni/agni_tf_tools.git (branch: master)

# Package Summary

This package provides a gui program as well as a rviz plugin to publish static transforms. Both support the transformation between various Euler angle representations. The rviz plugin also allows to configure the transform with an interactive marker.

- Maintainer status: maintained
- Maintainer: Robert Haschke <rhaschke AT techfak.uni-bielefeld DOT de>
- Author: Robert Haschke <rhaschke AT techfak.uni-bielefeld DOT de>
- License: BSD
- Source: git https://github.com/ubi-agni/agni_tf_tools.git (branch: master)

# Package Summary

- Maintainer status: maintained
- Maintainer: Robert Haschke <rhaschke AT techfak.uni-bielefeld DOT de>
- Author: Robert Haschke <rhaschke AT techfak.uni-bielefeld DOT de>
- License: BSD
- Source: git https://github.com/ubi-agni/agni_tf_tools.git (branch: master)

Contents

This package shall facilitate the definition of static transforms via an appropriate GUI. Both, a standalone GUI and a rviz plugin are provided to interactively define the orientation and translation part of a transform. Transformations between any of the 24 possible Euler angle representations is provided. An interactive marker in rviz allows to define the transform via mouse.

# Transforming Euler representations

Dependent on the order of rotation axes, there are different sets of Euler angles. One common set is roll-pitch-yaw (the default in ROS), which corresponds to rotations about x, y, and z axes w.r.t. the fixed frame. To specify Euler angles w.r.t. a different set or order of axes, simply specify the desired order instead of rpy. For example, `yxz: 30, 50, 70` will rotate by 30° about the y axis, then by 50° about the x axis, and finally by 70° about the y axis. In order to transform a given Euler angle representation into another one, simply enter the desired axes order - replacing the whole text field including the angular values.

To specify whether rotations should be performed w.r.t. the **s**tatic or the moving / **r**otationg frame (corresponding to left resp. right matrix multiplication), it's possible to prefix the axes order by "**s**" or "**r**". Omitting the prefix, corresponds to "**r**" or right matrix multiplication.

# Computing a transform w.r.t. another parent

The rviz plugin also supports frame transformations. If you want to compute the entered transform w.r.t. another parent frame, simply enable the checkbox "`adapt transformation`" and subsequently change the `parent frame`. If the checkbox is not ticked, changing the parent frame doesn't change the relative transform, but moves the interactive marker.

# Publishing transforms

The entered transform is published as soon as a empty frame names are provided and the "`publish transform`" checkbox is enabled.