Ingesting ROS transform tree data

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This section is for ROS users

If you do not use ROS, feel free to move on to the next section: Ingesting from Python.

This document shows how to add a Transform tree telemetry stream from the /tf and /tf_static topics.

ROS message type

Formant datapoint type

tf2_msgs/TFMessage

(/tf and /tf_static topics only)

Transform tree

Adding a new ROS transform tree telemetry stream

To add a ROS Transform tree stream,

  1. Open the Formant sidebar using the button in the top left of the screen
  2. Select Settings ⇒ Devices ⇒ Click on the device name
  3. Click the "Telemetry" tab
  4. Click "Add stream"
  5. Choose "ROS Transform Tree"
ROS transform tree telemetry stream configurationROS transform tree telemetry stream configuration

ROS transform tree telemetry stream configuration

Base reference frame

The base reference frame must be included in /tf or /tf_static (e.g. base_link).


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