Best way to broadcast the entire scene as a TF2 tree
Posted: 08 Aug 2024, 10:10
Dear CoppeliSim team,
I have a question and need a general advice here. I would like to have all the object poses to be broadcast/appear in the /tf. Right now, if I loadPlugin('simROS2') an empty /tf topic appears in ROS2 context which I can see coming from CoppeliaSim
My question is, what would be the best way to populate this topic with all the scene hierarchy object poses? Are there already any mechanism built-in to make this happen out-of-the-box? I assume I need to parse the entire scene, is that right?
For information, I don't mind writing a cpp plugin or python script, I just need it to be high performance.
Thank you!
I have a question and need a general advice here. I would like to have all the object poses to be broadcast/appear in the /tf. Right now, if I loadPlugin('simROS2') an empty /tf topic appears in ROS2 context which I can see coming from CoppeliaSim
Code: Select all
ros2 topic info --verbose /tf
Type: tf2_msgs/msg/TFMessage
Publisher count: 1
Node name: sim_ros2_interface
Node namespace: /
Topic type: tf2_msgs/msg/TFMessage
For information, I don't mind writing a cpp plugin or python script, I just need it to be high performance.
Thank you!