December 2016
Beginner to intermediate
468 pages
9h 43m
English
book
Effective Robotics Programming with ROS - Third Edition
by Luis Sanchez, Enrique Fernandez Perdomo, Anil Mahtani
Content preview from Effective Robotics Programming with ROS - Third EditionBecome an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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Creating transforms
The navigation stack needs to know the position of the sensors, wheels, and joints.
To do that, we use the Transform Frames (tf) software library. It manages a transform tree. You could do this with mathematics, but if you have a lot of frames to calculate, it will be a bit complicated and messy.
Thanks to tf, we can add more sensors and parts to the robot, and tf will handle all the relations for us.
If we put the laser 10 cm backwards and 20 cm above with reference to the origin of the base_link coordinates, we would need to add a new frame to the transformation tree with these offsets.
Once inserted and created, we could easily know the position of the laser with reference to the base_link value or the wheels. The only thing ...
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I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.