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.

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"

Base reference frame

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