ROS TF support for rosnodejs
npm install tf-rosnodejsROS TF support for rosnodejs.
``
npm install --save tf-rosnodejs
This example shows how to use tf.js to transform a point cloud from one frame,
typically the sensors frame, to another frame, here the map.
`js
const rosnodejs = require('rosnodejs');
const tf = require('tf-rosnodejs');
const MAP_FRAME = 'map';
/* read one point in a point-cloud message /
const readPoint = (fields, buffer, offset) => {
const rtv = {};
fields.forEach(field => {
assert(field.datatype == 7);
rtv[field.name] = buffer.readFloatLE(offset + field.offset);
});
return rtv;
};
rosnodejs.initNode('/test_tf').then((rosNode) => {
tf.init(rosNode);
const sub = rosNode.subscribe('/some_point_cloud', 'sensor_msgs/PointCloud2',
(data) => {
const transform = tf.getTF(MAP_FRAME, data.header.frame_id, data.header.stamp);
for (let offset = 0; offset < data.data.length; offset += data.point_step) {
const point = readPoint(data.fields, data.data, offset);
const mapPose = tfs.transform.apply({position: point});
console.log('point in map frame:', mapPose.position);
}
});
});
``