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Migrating a TransformBroadcaster from tf to tf2
Description: This is a guide for converting a tf TransformBroadcaster class to a tf2 Broadcaster classTutorial Level: INTERMEDIATE
Contents
Primary difference
The TransformBroadcaster uses the public API only and populates an independently allocated tf2 Buffer.
C++
Old Style
Depend on tf package.
1 #include "tf/transform_broadcaster.h"
2 #include "tf/transform_datatypes.h"
3 #include "geometry_msgs/TransformStamped.h"
4
5 tf::TransformBroadcaster tfb;
6
7 geometry_msgs::TransformStamped transformGeom = ...;
8 tfb.sendTransform(transformGeom);
9
10 tf::StampedTransform transformTf = ...;
11 tfb.sendTransform(transformTf);
Equivalent tf2 Replacement
Depend on tf2_ros package and possibly also tf2_geometry_msgs.
1 #include "tf2_ros/transform_broadcaster.h"
2 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
3 #include "geometry_msgs/TransformStamped.h"
4
5 tf2_ros::TransformBroadcaster tfb;
6
7 geometry_msgs::TransformStamped transformGeom = ...;
8 tfb.sendTransform(transformGeom); # this stays the same
9
10 # there is no tf2::StampedTransform...
11 # only tf2::Stamped<Transform> which misses child_frame_id
12 tf2::Stamped<Transform> transformTf = ...;
13 geometry_msgs::TransformStamped transformTfGeom = tf2::toMsg(transformTf);
14 transformTfGeom.child_frame_id = ...;
15 tfb.sendTransform(transformTfGeom);
Python
Old Style
Depend on tf package.
Equivalent tf2 Replacement
Depend on tf2_ros pacakage.
