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Using tf2 with ROS 2¶
There is preliminary support for tf2 in ROS 2. We rely heavily on tf2 in ROS 1 to manage data about coordinate transforms, and we expect to continue to use extensively in ROS 2.
Here’s how to try it out. In each shell, be sure to start by sourcing the ROS 2 setup file as usual (e.g. on Linux
. ~/ros2_ws/install/setup.bash or on Windows
Publishing transform data¶
First run the static_transform_publisher to generate
ros2 run tf2_ros static_transform_publisher 1 2 3 0.5 0.1 -1.0 foo bar
That tool will publish a static transform from the parent frame
foo to the child frame
bar with (X, Y, Z) translation (1, 2, 3) and (yaw, pitch, roll) body-fixed axis rotation sequence (0.5, 0.1, -1.0).
Receiving transform data¶
Now we can check whether it’s possible to receive that transform data with
ros2 run tf2_ros tf2_echo foo bar
You should see repeated output similar to this:
At time 0.0 - Translation: [1.000, 2.000, 3.000] - Rotation: in Quaternion [-0.475, -0.076, 0.240, 0.843]
tf2_echo is reporting the rotation as a quaternion as opposed to roll, pitch, and yaw.