def lookup_transform_full(self,
target_frame,
target_time,
source_frame,
source_time,
fixed_frame,
timeout=rospy.Duration(0.0)):
"""
Get the transform from the source frame to the target frame using the advanced API.
:param target_frame: Name of the frame to transform into.
:param target_time: The time to transform to. (0 will get the latest)
:param source_frame: Name of the input frame.
:param source_time: The time at which source_frame will be evaluated. (0 will get the latest)
:param fixed_frame: Name of the frame to consider constant in time.
:param timeout: (Optional) Time to wait for the target frame to become available.
:return: The transform between the frames.
:rtype: :class:`geometry_msgs.msg.TransformStamped`
"""
goal = LookupTransformGoal()
goal.target_frame = target_frame
goal.source_frame = source_frame
goal.source_time = source_time
goal.timeout = timeout
goal.target_time = target_time
goal.fixed_frame = fixed_frame
goal.advanced = True
return self.__process_goal(goal)
def _get_position(self):
goal = LookupTransformGoal()
goal.source_frame = self.base_frame
goal.target_frame = self.map_frame
self.tf_client.send_goal(goal)
if not self.tf_client.wait_for_result(rospy.Duration(3)):
rospy.logerr("TF2 not available")
return None
res = self.tf_client.get_result()
assert isinstance(res, LookupTransformResult)
if res.error.error != 0:
rospy.logerr("TF Lookup failed: %s", res.error.error_string)
return None
return res.transform.transform.translation
def lookup_transform_full(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout=rospy.Duration(0.0)):
goal = LookupTransformGoal()
goal.target_frame = target_frame;
goal.source_frame = source_frame;
goal.source_time = source_time;
goal.timeout = timeout;
goal.target_time = target_time;
goal.fixed_frame = fixed_frame;
goal.advanced = True;
return self.__process_goal(goal)
def lookup_transform_full(self,
target_frame,
target_time,
source_frame,
source_time,
fixed_frame,
timeout=rospy.Duration(0.0)):
goal = LookupTransformGoal()
goal.target_frame = target_frame
goal.source_frame = source_frame
goal.source_time = source_time
goal.timeout = timeout
goal.target_time = target_time
goal.fixed_frame = fixed_frame
goal.advanced = True
return self.__process_goal(goal)
def lookup_transform_full(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout=rospy.Duration(0.0)):
"""
Get the transform from the source frame to the target frame using the advanced API.
:param target_frame: Name of the frame to transform into.
:param target_time: The time to transform to. (0 will get the latest)
:param source_frame: Name of the input frame.
:param source_time: The time at which source_frame will be evaluated. (0 will get the latest)
:param fixed_frame: Name of the frame to consider constant in time.
:param timeout: (Optional) Time to wait for the target frame to become available.
:return: The transform between the frames.
:rtype: :class:`geometry_msgs.msg.TransformStamped`
"""
goal = LookupTransformGoal()
goal.target_frame = target_frame;
goal.source_frame = source_frame;
goal.source_time = source_time;
goal.timeout = timeout;
goal.target_time = target_time;
goal.fixed_frame = fixed_frame;
goal.advanced = True;
return self.__process_goal(goal)
def lookup_transform(self, target_frame, source_frame, time, timeout=rospy.Duration(0.0)):
"""
Get the transform from the source frame to the target frame.
:param target_frame: Name of the frame to transform into.
:param source_frame: Name of the input frame.
:param time: The time at which to get the transform. (0 will get the latest)
:param timeout: (Optional) Time to wait for the target frame to become available.
:return: The transform between the frames.
:rtype: :class:`geometry_msgs.msg.TransformStamped`
"""
goal = LookupTransformGoal()
goal.target_frame = target_frame;
goal.source_frame = source_frame;
goal.source_time = time;
goal.timeout = timeout;
goal.advanced = False;
return self.__process_goal(goal)
def lookup_transform(self,
target_frame,
source_frame,
time,
timeout=rospy.Duration(0.0)):
"""
Get the transform from the source frame to the target frame.
:param target_frame: Name of the frame to transform into.
:param source_frame: Name of the input frame.
:param time: The time at which to get the transform. (0 will get the latest)
:param timeout: (Optional) Time to wait for the target frame to become available.
:return: The transform between the frames.
:rtype: :class:`geometry_msgs.msg.TransformStamped`
"""
goal = LookupTransformGoal()
goal.target_frame = target_frame
goal.source_frame = source_frame
goal.source_time = time
goal.timeout = timeout
goal.advanced = False
return self.__process_goal(goal)