TF Remapper

Overview

This ROS package contains a simple node to republish tf2_msgs/TFMessage as geometry_msgs/PoseWithCovarianceStamped.

Author: Hannes Keller, [email protected]
Affiliation: Autonomous Systems Lab, ETH Zurich

Installation

Dependencies

This software is built on the Robotic Operating System (ROS), which needs to be installed first.

Building

In order to install the TF remapper, clone the latest version from this repository into your rosbuild workspace and compile the package using ROS.

cd rosbuild_workspace
git clone https://github.com/HannesKeller/tf_remapper.git
rosmake tf_remapper

Basic Usage

Simply start the node, or add a launch file to remap topics.

Nodes

Node: tf_remapper

This is the only node present in the package. It republishes its tf2_msgs/TFMessage input topic in the form of a geometry_msgs/PoseWithCovarianceStamped.

Subscribed Topics

• /tf (tf2_msgs/TFMessage)

  The tf input message.

Published Topics

• /robot_pose (geometry_msgs/PoseWithCovarianceStamped)

  The output message.