operator/load_tfs

Requires

  • Eigen3

Parameters (JSON)

  • map: the map to store the transforms within
  • transforms: an array of objects
    • static: whenever this tf is static or not
    • header: Data with is stored in the entity
      • frame_id
      • stamp: an object
        • sec
        • nsec
    • transform: Data which is stored in the entity data
      • child_frame_id
      • translation
        • x
        • y
        • z
      • rotation: an object
        • w
        • x
        • y
        • z

optional:

  • dynamic_layer: the name for dynamic tfs
  • static_layer: the name for static tfs
{
 "map" : ...,
 "dynamic_layer" : ...,  [optional]
 "static_layer" : ...,   [optional]
 "transforms" :
 [                       [repeated]
     {
         "static" : ...,
         "header" : {
             "frame_id" : ...,
             "stamp" : {
                 "sec" : ...,
                 "nsec" : ...
             }
         },

         "transform" : {
             "child_frame_id" : ...,
             "translation" : {
                 "x" : ...,
                 "y" : ...,
                 "z" : ...
             },
             "rotation" : {
                 "w" : ...,
                 "x" : ...,
                 "y" : ...,
                 "z" : ...
             }
         }
     },
     {
         ...
     }
 ]
}

Effect

Loads a list of transforms into the system