actions: [] api_documentation: http://docs.ros.org/lunar/api/tf/html authors: Tully Foote, Eitan Marder-Eppstein, Wim Meeussen brief: '' bugtracker: '' depends: - angles - catkin - geometry_msgs - message_filters - message_generation - message_runtime - rosconsole - roscpp - rostime - roswtf - sensor_msgs - std_msgs - tf2_ros depends_on: - ackermann_steering_controller - amcl - ar_track_alvar - arbotix_controllers - arbotix_python - assisted_teleop - axis_camera - base_local_planner - basler_tof - ca_driver - carrot_planner - cl_tf - clear_costmap_recovery - collada_urdf_jsk_patch - costmap_2d - diagnostic_common_diagnostics - diff_drive_controller - dwa_local_planner - dwb_local_planner - dynpick_driver - easy_markers - ensenso_camera - ensenso_camera_test - euscollada - explore_lite - face_detector - find_object_2d - flexbe_core - four_wheel_steering_controller - frame_editor - gazebo_plugins - gazebo_ros - generic_control_toolbox - geodesy - geometry - global_planner - gmapping - grid_map_costmap_2d - grid_map_ros - grid_map_visualization - hector_gazebo_plugins - imu_complementary_filter - imu_processors - imu_transformer - innok_heros_driver - interactive_marker_tutorials - interactive_markers - ira_laser_tools - katana - laser_assembler - laser_filters - laser_geometry - leg_detector - map_laser - mapviz - mapviz_plugins - mavros_extras - mbf_abstract_nav - mbf_costmap_core - mbf_costmap_nav - mbf_simple_nav - mbf_utility - microstrain_3dmgx2_imu - mir_driver - move_base - moveit_commander - moveit_kinematics - moveit_planners_ompl - moveit_python - moveit_ros_manipulation - moveit_ros_move_group - moveit_ros_perception - moveit_ros_planning - moveit_ros_planning_interface - moveit_ros_robot_interaction - moveit_ros_visualization - moveit_ros_warehouse - mrpt_bridge - mrpt_ekf_slam_2d - mrpt_ekf_slam_3d - mrpt_graphslam_2d - mrpt_icp_slam_2d - mrpt_local_obstacles - mrpt_localization - mrpt_map - mrpt_rawlog - mrpt_rbpf_slam - mrpt_reactivenav2d - mrpt_tutorials - multires_image - multisense_ros - mvsim - nav2d_exploration - nav2d_karto - nav2d_localizer - nav2d_navigator - nav2d_operator - nav_2d_utils - nav_core - nav_core2 - nav_core_adapter - nav_pcontroller - navfn - novatel_gps_driver - novatel_span_driver - octomap_pa - octomap_ros - openni2_launch - osm_cartography - pcdfilter_pa - pcl_ros - people_tracking_filter - phidgets_ik - phidgets_imu - plotjuggler - pose_base_controller - pose_follower - pr2_arm_move_ik - pr2_gazebo_plugins - pr2_head_action - pr2_mechanism_controllers - pr2_position_scripts - pr2_teleop - pr2_teleop_general - rc_visard_driver - respeaker_ros - robot_mechanism_controllers - robot_pose_ekf - robot_self_filter - robot_state_publisher - rosaria - roseus - rosflight - rosserial_client - rotate_recovery - rqt_ez_publisher - rqt_nav_view - rqt_pose_view - rtabmap_ros - rtt_tf - rviz - sick_ldmrs_driver - sick_ldmrs_tools - simple_grasping - slam_karto - stage_ros - static_tf - swri_geometry_util - swri_image_util - swri_transform_util - teb_local_planner - test_tf2 - tf2_web_republisher - tf_conversions - tile_map - trac_ik_python - turtle_tf - urg_node - uuv_assistants - uuv_control_cascaded_pid - uuv_sensor_ros_plugins - uuv_teleop - uuv_thruster_manager - uuv_trajectory_control - velo2cam_calibration - velodyne_driver - velodyne_gazebo_plugin - velodyne_gazebo_plugins - velodyne_pointcloud - visp_tracker - volksbot_driver - warehouse_ros - webots_ros - wifi_ddwrt - xpp_vis - xsens_driver - ypspur_ros description: "tf is a package that lets the user keep track of multiple coordinate\n\ frames over time. tf maintains the relationship between coordinate\nframes in a\ \ tree structure buffered in time, and lets the user\ntransform points, vectors,\ \ etc between any two coordinate frames at\nany desired point in time.\n\n
Migration:\
\ Since ROS Hydro, tf has been "deprecated" in favor of tf2. tf2 is an iteration on tf providing generally the same feature set more\
\ efficiently. As well as adding a few new features.
\n As tf2 is a major\
\ change the tf API has been maintained in its current form. Since tf2 has a superset\
\ of the tf features with a subset of the dependencies the tf implementation has\
\ been removed and replaced with calls to tf2 under the hood. This will mean that\
\ all users will be compatible with tf2. It is recommended for new work to use tf2\
\ directly as it has a cleaner interface. However tf will continue to be supported\
\ for through at least J Turtle.\n