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Package Summary

A package that decomposes the /tf topic into multiple ones.

About

The tf_splitter package contains a ROS node that decomposes the /tf topic into multiple ones according to the number of robots. This package can be used in multi-robot systems to alleviate the network traffic load.

Nodes

tf_splitter

tf_splitter decomposes the /tf topic into multiple ones according to the number of robots.

Subscribed Topics

/tf (tf/tfMessage)
  • Transform tree.

Published Topics

/<tf prefix according to the robots> (tf/tfMessage)
  • Splitted transform tree.

Usage

rosrun tf_splitter tf_splitter

Please refer to the following paper to retrieve more information on the node:

@inproceedings{yz14simpar,
author = {Zhi Yan and Luc Fabresse and Jannik Laval and Noury Bouraqadi},
title = {Team Size Optimization for Multi-robot Exploration},
booktitle = {In Proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2014)},
pages = {438--449},
address = {Bergamo, Italy},
month = {October},
year = {2014}
}

Support

Zhi Yan, Luc Fabresse, Jannik Laval, and Noury Bouraqadi

Ecole des Mines de Douai, 59508 Douai, France

http://car.mines-douai.fr

Wiki: tf_splitter (last edited 2015-02-12 11:23:33 by ZhiYan)