Add a ROS transform tree stream
This page assumes knowledge of ROS.
In Formant, ROS data which relates to /tf messages is encapsulated in a single data type called transform tree.
| ROS message type | Formant datapoint type |
|---|---|
tf2_msgs/TFMessage( /tf and /tf_static topics only) | Transform tree |
This guide will teach you how to add a Transform tree telemetry stream from the /tf and /tf_static ROS topics.
Step 1: Create a ROS transform tree stream
- In Formant, in the upper-left corner, open the menu and click Settings.
- Click Devices, and then click on the device you want to configure.
- Click the Telemetry tab, and then click Add Stream.
- Click ROS Transform Tree. This will open the New ROS Transform Tree Stream configuration window:
| Property | Usage |
|---|---|
| Telemetry stream name | Give the stream a name. |
| On demand | If ON, this stream will store data locally on your device, and only upload data to Formant when you click Retrieve on-demand data. Rate limit controls the rate at which datapoints are added to the on-device buffer. For more information, see On demand streams.If OFF, this stream will ingest periodically. Rate limit controls the rate of data ingestion. |
| Video encoding | Only applicable for sensor_msgs/Image and sensor_msgs/CompressedImage streams. Choose whether you want images ingested on this stream to be encoded as a video. |
| Validation schema | Only applicable for JSON and text streams. Choose a configuration schema for this stream. |
| Base reference frame | The base reference frame must be included in /tf or /tf_static (e.g., base_link). |
Add tags (e.g. key: value) (optional) | Add tags to each datapoint of this stream. For more information on tags, see Configure access levels. |
| Rate limit (Hz) (optional) | If On demand is ON: Set the rate at which data is added to the on-device buffer. Data in the on-device buffer will be ingested by the agent when you click Retrieve on-demand data. For more information, see On demand streams.If On demand is OFF: Set the rate at which data is ingested.The default rate is 0.5 Hz. |
- When you're finished configuring your stream, click Done, and then Save.
Step 2: Add stream to a view
Once you've added a stream to your device, your next step is to add it to a view in Formant.
Add the streams you want to visualize, and then move on to Viewing data in Formant.
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Updated 6 months ago