tf coordinate transformation

[wangmengjian]

Hello, how to realize the coordinate transformation of two robots through iop?Through ros, I can get the relative position of two robots in tf, but with iop, the tf trees on the two machines are different.

[atiderko]

Hi, sorry for late answer!

you find an example for two robots in fkie_iop_cfg_sim_stage.

You need a client for each robot and a global position for each robot. In simulation it is done by tf2satfix.py on the robot side.

If global position available the client on OCU side creates tf automatically [world->anchor->base_link]. For multiple robots you have to rename frame id's, e.g:

    <param name="tf_frame_odom" value="/$(arg ns)/odom"/>
    <param name="tf_frame_robot" value="/$(arg ns)/base_link"/>
    <param name="tf_frame_costmap" value="/$(arg ns)/costmap"/>