agni_tf_tools

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.

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• ROS Package Dependencies
  • rclcpp
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  • pluginlib
  • geometry_msgs
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  • std_msgs
  • interactive_markers
  • tf2
  • tf2_geometry_msgs
  • tf2_ros
  • rviz_common
  • rviz_default_plugins

README

This ROS package provides some tools facilitating the definition of (static) ROS tf transforms.

First of all, it provides some extensions to rviz:

• An EulerProperty class allowing for the definition of arbitrary sets of Euler angles (and conversion between them).

• A RotationProperty class combining EulerProperty and QuaternionProperty to provide flexible means of entering orientation information.

• An interactive transform publisher as an rviz::Display plugin allowing you to define your transforms with an rviz interactive marker. You can use this also, to interactively perform frame transformations.

Furthermore, it provides two cmdline utilities:

• static_transform_publisher is an adapted version of tf2_ros’s source code, providing more fine-grained command-line options to define orientations from an arbitrary set of Euler angles.

• static_transform_publisher_gui is an interactive version of the static_transform_publisher allowing you to modify the transform interactively.