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Nodes

odom_proc

Splits odometry into two parts, one of which is resolved via tf.
It allows to rename parent frame.

odom_to_tf

Converts odometry messages to tf transforms.

tf_to_odom

Converts tf transforms to odometry messages.
Allows two-phase transform lookup with the root using latest transform without waiting. This is useful e.g. for fast map-to-base_link odometry from slow map-to-odom transforms.

tf_to_path

Converts tf transforms to path messages.
Allows out-of-order transform messages to come and adds older measurements to the correct place in the path. The individual path points are looked up at times when the stamp_trigger_frame frame is updated on the tf_msg topic (the idea is that points on the path have the very same timestamps as your robot's odometry). Do not forget to remap tf_msg to the actual TF topic. stamp_trigger_frame is by default the same as child_frame, but you have to set it different e.g. if your child_frame is a static transform to the actual top-level body link.

tf_fast_repeater

Use this if a transform you have needs to be republished on a higher frequency always with current timestamp (to allow constant extrapolation of the transform). Takes parent_frame->child_frame transform and republishes its inverse as child_frame->new_parent_frame on publish_frequency, always taking the latest available transform and stamping it with current time.

tf_copy

Copy a transform to another place in the tree. Reads parent_frame->child_frame TF and publishes it as new_parent_frame->new_child_frame. If invert_tf is true, then the transforms gets inverted (just the geometry, not the frame names). If static_tf is true, the transform is only published when it actually changes, and is published by a static transform publisher. publish_frequency specifies the frequency on which the TF is updated, and if it is nonstatic, the also published. error_if_tf_missing specifies, whether ROS should issue an error in console if the source TF is missing.

tf_filter (Python)

The node filters TF messages by

  • including / excluding parent frames,
  • including / excluding child frames,
  • limiting publishing frequency.

It subscribes topic tf and publishes to tf_filtered.

It allows collecting and republishing transforms in regular intervals.

tf_connect (Python)

The tf_connect node allows to connect multiple disconnected TF trees by defining coincident frames.

odom_twist_to_child_frame

Some robot drivers incorrectly publish twist in odom frame instead of body frame. This node fixes it.

odom_recompute_twist

Some robot drivers do not publish twist or publish a wrong one. This node computes it from differences of the poses.

Nodelets

As above, in nodelets.

nav_utils/odom_to_tf

nav_utils/odom_proc

nav_utils/tf_to_odom

nav_utils/tf_fast_repeater

nav_utils/tf_copy