Publishing TF tree from Simulink to ROS

Question

Aadish Dilip Naik 2022-4-20

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1700970-publishing-tf-tree-from-simulink-to-ros

编辑： Prabeen Sahu 2022-4-28

I am using the Simulation 3d Camera and Lidar placed on a vehicle in Unreal Engine to generate image and pointcloud data. I want to use the ROS toolbox to publish these topics. I was able to convert the image and pointcloud data to ROS messages and publish them, but I am unable to visualize the pointclud in Rviz because that requires tf data.

Is there a way that I can create a tf tree through simulink and publish it to ROS?

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

Answer 1

Prabeen Sahu 2022-4-27

1
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1700970-publishing-tf-tree-from-simulink-to-ros#answer_952260

编辑：Prabeen Sahu 2022-4-28

Hi Dilip,

You can write your own transformations(tf2_msgs/TFMessage messages) and try publishing them to /tf topic directly from Simulink using Publish block.

Alternatively, without publishing tf data you can try this quick workaround.You can just set the FrameId field in the header for the image or point cloud to /base_link, which should show the data in Rviz at the /base_link.

You can also visualize the converted image and pointcloud ros messages in Simulink directly using Read Image block and Read Point Cloud block.

-Prabeen