transform

This example shows how to set up a ROS transformation tree and transform frames based on transformation tree information. It uses time-buffered transformations to access transformations at different times.

Create a ROS transformation tree. Use rosinit to connect to a ROS network. Replace ipaddress with your ROS network address.

ipaddress = '192.168.17.129';
rosinit(ipaddress,11311)

Initializing global node /matlab_global_node_14346 with NodeURI http://192.168.17.1:56312/

tftree = rostf;
pause(1)

Look at the available frames on the transformation tree.

tftree.AvailableFrames

ans = 36×1 cell
    {'base_footprint'            }
    {'base_link'                 }
    {'camera_depth_frame'        }
    {'camera_depth_optical_frame'}
    {'camera_link'               }
    {'camera_rgb_frame'          }
    {'camera_rgb_optical_frame'  }
    {'caster_back_link'          }
    {'caster_front_link'         }
    {'cliff_sensor_front_link'   }
    {'cliff_sensor_left_link'    }
    {'cliff_sensor_right_link'   }
    {'gyro_link'                 }
    {'mount_asus_xtion_pro_link' }
    {'odom'                      }
    {'plate_bottom_link'         }
    {'plate_middle_link'         }
    {'plate_top_link'            }
    {'pole_bottom_0_link'        }
    {'pole_bottom_1_link'        }
    {'pole_bottom_2_link'        }
    {'pole_bottom_3_link'        }
    {'pole_bottom_4_link'        }
    {'pole_bottom_5_link'        }
    {'pole_kinect_0_link'        }
    {'pole_kinect_1_link'        }
    {'pole_middle_0_link'        }
    {'pole_middle_1_link'        }
    {'pole_middle_2_link'        }
    {'pole_middle_3_link'        }
      ⋮

Check if the desired transformation is now available. For this example, check for the transformation from 'camera_link' to 'base_link'.

canTransform(tftree,'base_link','camera_link')

ans = logical
   1

Get the transformation for 3 seconds from now. The getTransform function will wait until the transformation becomes available with the specified timeout.

desiredTime = rostime('now') + 3;
tform = getTransform(tftree,'base_link','camera_link',...
                     desiredTime,'Timeout',5);

Create a ROS message to transform. Messages can also be retrieved off the ROS network.

pt = rosmessage('geometry_msgs/PointStamped');
pt.Header.FrameId = 'camera_link';
pt.Point.X = 3;
pt.Point.Y = 1.5;
pt.Point.Z = 0.2;

Transform the ROS message to the 'base_link' frame using the desired time previously saved.

tfpt = transform(tftree,'base_link',pt,desiredTime);

Optional: You can also use apply with the stored tform to apply this transformation to the pt message.

tfpt2 = apply(tform,pt);

Shut down the ROS network.

rosshutdown

Shutting down global node /matlab_global_node_14346 with NodeURI http://192.168.17.1:56312/

This example shows how to access time-buffered transformations on the ROS network. Access transformations for specific times and modify the BufferTime property based on your desired times.

Create a ROS transformation tree. Use rosinit to connect to a ROS network. Replace ipaddress with your ROS network address.

ipaddress = '192.168.17.129';
rosinit(ipaddress,11311)

Initializing global node /matlab_global_node_78006 with NodeURI http://192.168.17.1:56344/

tftree = rostf;
pause(2);

Get the transformation from 1 second ago.

desiredTime = rostime('now') - 1;
tform = getTransform(tftree,'base_link','camera_link',desiredTime);

The transformation buffer time is 10 seconds by default. Modify the BufferTime property of the transformation tree to increase the buffer time and wait for that buffer to fill.

tftree.BufferTime = 15;
pause(15);

Get the transformation from 12 seconds ago.

desiredTime = rostime('now') - 12;
tform = getTransform(tftree,'base_link','camera_link',desiredTime);

You can also get transformations at a time in the future. The getTransform function will wait until the transformation is available. You can also specify a timeout to error if no transformation is found. This example waits 5 seconds for the transformation at 3 seconds from now to be available.

desiredTime = rostime('now') + 3;
tform = getTransform(tftree,'base_link','camera_link',desiredTime,'Timeout',5);

Shut down the ROS network.

rosshutdown

Shutting down global node /matlab_global_node_78006 with NodeURI http://192.168.17.1:56344/