49 lines
1.9 KiB
ReStructuredText
Executable File
49 lines
1.9 KiB
ReStructuredText
Executable File
tf2_ros Overview
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================
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This is the Python API reference for the tf2_ros package.
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To broadcast transforms using ROS:
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- Call :meth:`rospy.init` to initialize a node.
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- Construct a :class:`tf2_ros.TransformBroadcaster`.
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- Pass a :class:`geometry_msgs.TransformStamped` message to :meth:`tf2_ros.TransformBroadcaster.sendTransform`.
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- Alternatively, pass a vector of :class:`geometry_msgs.TransformStamped` messages.
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To listen for transforms using ROS:
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- Construct an instance of a class that implements :class:`tf2_ros.BufferInterface`.
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- :class:`tf2_ros.Buffer` is the standard implementation which offers a tf2_frames service that can respond to requests with a :class:`tf2_msgs.FrameGraph`.
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- :class:`tf2_ros.BufferClient` uses an :class:`actionlib.SimpleActionClient` to wait for the requested transform to become available.
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- Pass the :class:`tf2_ros.Buffer` to the constructor of :class:`tf2_ros.TransformListener`.
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- Optionally, pass a :class:`ros.NodeHandle` (otherwise TransformListener will connect to the node for the process).
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- Optionally, specify if the TransformListener runs in its own thread or not.
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- Use :meth:`tf2_ros.BufferInterface.transform` to apply a transform on the tf server to an input frame.
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- Or, check if a transform is available with :meth:`tf2_ros.BufferInterface.can_transform`.
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- Then, call :meth:`tf2_ros.BufferInterface.lookup_transform` to get the transform between two frames.
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For more information, see the tf2 tutorials: http://wiki.ros.org/tf2/Tutorials
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Or, get an `overview`_ of data type conversion methods in geometry_experimental packages.
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See http://wiki.ros.org/tf2/Tutorials for more detailed usage.
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.. _overview: http://wiki.ros.org/tf2/Tutorials/Migration/DataConversions
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Classes and Exceptions
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======================
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.. toctree::
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:maxdepth: 2
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tf2_ros
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Indices and tables
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==================
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* :ref:`genindex`
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* :ref:`search`
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