def sendTransform(self, translation, rotation, time, child, parent):
"""
:param translation: the translation of the transformtion as a tuple (x, y, z)
:param rotation: the rotation of the transformation as a tuple (x, y, z, w)
:param time: the time of the transformation, as a rospy.Time()
:param child: child frame in tf, string
:param parent: parent frame in tf, string
Broadcast the transformation from tf frame child to parent on ROS topic ``"/tf"``.
"""
t = TransformStamped()
t.header.frame_id = parent
t.header.stamp = time
t.child_frame_id = child
t.transform.translation.x = translation[0]
t.transform.translation.y = translation[1]
t.transform.translation.z = translation[2]
t.transform.rotation.x = rotation[0]
t.transform.rotation.y = rotation[1]
t.transform.rotation.z = rotation[2]
t.transform.rotation.w = rotation[3]
tfm = tfMessage([t])
self.pub_tf.publish(tfm)
def post_tf(self, component_instance):
component_name = component_instance.blender_obj.name
frame_id = self._properties[component_name]['frame_id']
child_frame_id = self._properties[component_name]['child_frame_id']
euler = mathutils.Euler((component_instance.local_data['roll'],
component_instance.local_data['pitch'],
component_instance.local_data['yaw']))
quaternion = euler.to_quaternion()
t = TransformStamped()
t.header.frame_id = frame_id
t.header.stamp = rospy.Time.now()
t.child_frame_id = child_frame_id
t.transform.translation.x = component_instance.local_data['x']
t.transform.translation.y = component_instance.local_data['y']
t.transform.translation.z = component_instance.local_data['z']
t.transform.rotation = quaternion
tfm = tfMessage([t])
for topic in self._topics:
# publish the message on the correct topic
if str(topic.name) == str("/tf"):
topic.publish(tfm)
def sendTransform(self, translation, rotation, time, child, parent):
"""
:param translation: the translation of the transformtion as a tuple (x, y, z)
:param rotation: the rotation of the transformation as a tuple (x, y, z, w)
:param time: the time of the transformation, as a rospy.Time()
:param child: child frame in tf, string
:param parent: parent frame in tf, string
Broadcast the transformation from tf frame child to parent on ROS topic ``"/tf"``.
"""
t = TransformStamped()
t.header.frame_id = parent
t.header.stamp = time
t.child_frame_id = child
t.transform.translation.x = translation[0]
t.transform.translation.y = translation[1]
t.transform.translation.z = translation[2]
t.transform.rotation.x = rotation[0]
t.transform.rotation.y = rotation[1]
t.transform.rotation.z = rotation[2]
t.transform.rotation.w = rotation[3]
tfm = tfMessage([t])
self.pub_tf.publish(tfm)
def sendTransform(self, translation, rotation, time, child, parent):
"""
:param translation: the translation of the transformtion as geometry_msgs/Vector3
:param rotation: the rotation of the transformation as a geometry_msgs/Quaternion
:param time: the time of the transformation, as a rospy.Time()
:param child: child frame in tf, string
:param parent: parent frame in tf, string
Broadcast the transformation from tf frame child to parent on ROS topic ``"/tf"``.
"""
t = TransformStamped()
t.header.frame_id = parent
t.header.stamp = time
t.child_frame_id = child
t.transform.translation = translation
t.transform.rotation = rotation
tfm = tfMessage([t])
self.publish_tf(tfm)
def sendTransform(self, translation, rotation, time, child, parent):
"""
:param translation: the translation of the transformtion as geometry_msgs/Vector3
:param rotation: the rotation of the transformation as a geometry_msgs/Quaternion
:param time: the time of the transformation, as a rospy.Time()
:param child: child frame in tf, string
:param parent: parent frame in tf, string
Broadcast the transformation from tf frame child to parent on ROS topic ``"/tf"``.
"""
t = TransformStamped()
t.header.frame_id = parent
t.header.stamp = time
t.child_frame_id = child
t.transform.translation = translation
t.transform.rotation = rotation
tfm = tfMessage([t])
self.publish_tf(tfm)
