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DRCSIM: topics not listed in UserGuide

asked 2013-03-14 20:51:44 -0600

cga gravatar image

1) Will the following topics be available in the VRC (in particular /tf)?


2) What do tf2_msgs and actionlib_msgs do? The ROS documentation is a little unclear. Something to do with bringing up the robot, and trajectories (that are now "depracated"?)

Thanks, Chris

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answered 2013-03-19 20:30:28 -0600

gerkey gravatar image

1) Yes, all of those topics will be available in the VRC. The User Guide has been updated to include them.

2) The tf_static and tf2_buffer_server/* topics are provided by the tf2_buffer_server tool, part of tf2. This is an experimental tool, without any user-facing documentation. In a nutshell, tf2 is a more flexible, and, in some cases, more efficient implementation of tf. The tf2_buffer_server/* topics constitute an actionlib interface, which is a sort of asynchronous request/reply mechanism. You can use this interface to ask the tf_buffer_server for coordinate transforms without having to subscribe to /tf yourself.

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Asked: 2013-03-14 20:51:44 -0600

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Last updated: Mar 19 '13