Frames in rviz - rhaschke/lecture GitHub Wiki

1. Install the ROS package agni-tf-tools

from deb package

sudo apt install ros-<distro>-agni-tf-tools

Note

binary packages are only available for ROS Noetic and ROS One.

from source

  • Setup your ROS workspace as explained here and clone the agni-tf-tools repository into your workspace's src folder: 
    cd ~/ros/src
git clone -b ros2 https://github.com/ubi-agni/agni_tf_tools.git
  • Build the workspace: 
    cd ~/ros
source /opt/ros/<distro>/setup.bash
colcon build
  • Source your workspace: 
    source ~/ros/install/setup.bash

2. Source your ROS environment, and start rviz 

source /opt/ros/<distro>/setup.bash
rviz2

3. Add new displays, namely TF and Static Transform Publisher

rviz screenshot

Using several transform publishers, build up a transformation tree like this:

world
 ↳ T1 → R1
 ↳ R2 → T2

where translations (T) are 1m along the y-axis, and rotations (R) are -90° about the z-axis (see image).

4. Using the TF display, read out the following relative transforms

  • world → R1
  • R1 → world
  • R1 → T2

To this end, define rviz's fixed frame (in Global Options) to the parent frame and read out the corresponding transformation of the child frame in TF display's frames list.

Background: rviz displays all data with respect to a given fixed frame. If this reference frame is changed, all coordinate representations change correspondingly.

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