Questions tagged [transformation]
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41 questions
1 vote
0 answers
27 views
Why does my transformation matrix has an offset? [closed]
I have a setup with a robot arm and a stationary camera system. The software of the camera has a transformation function, which can output corresponding coordinates of X and Y in millimeters for a ...
- 11
1 vote
0 answers
43 views
Transformation Matrix Help In Understanding Order
I have a fixed frame, I perform a transformation T1 with respect to fixed frame to get frame 1, then I perform transformation T2 with respect to frame 1 to obtain frame 2. Now this is where I'm a ...
0 votes
1 answer
28 views
ROS2 Trace file to txt?
I want to store the trace file formatted txt. ros2 trace --session-name perf0 Press Enter ros2 run demo_nodes_cpp talker ros2 run demo_nodes_py listener ... Press Enter babeltrace ~/.ros/tracing/perf0 ...
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0 votes
1 answer
43 views
Transforms Broadcasts
Intro: I have two AMRs in my system, each are seperated by namesapces. They have map topics as: /botA/map and /botB/map, but their transformation frame names are same (that is map itself). I have ...
- 1
0 votes
0 answers
19 views
1 vote
0 answers
57 views
Propagation of covariance matrix during a rotation
Suppose we have a rotation matrix representing an objects rotation in a certain frame $F_1$ along with a distribution of Euler Angles representing the probability that the object is perturbed from ...
- 435
2 votes
1 answer
235 views
Can Euler angles cause gimbal lock when you always rotate along body or fixed frame axes?
I am learning about Euler angles, and read about gimbal lock. I read that representing rotations with Euler angles can always cause gimbal lock. All the examples that I saw on the internet show an ...
1 vote
0 answers
45 views
Is it possible to do uncertainty propagation with TF2? If not what can I use?
I'm interested in applying a sequence of linear transformations to a gaussian probability vector in TF2. As far as I understand this is a pretty operation due to the gaussian nature and I see TF2 has ...
- 435
1 vote
0 answers
198 views
How to lookup most recent tf2 transform regardless of age
I want a callback to respond to an update between any of the tf2 transforms between frame A and B on the /tf topic. It should use the most recent transform available between every frame. Some frames ...
- 41
1 vote
1 answer
103 views
Inverse Kinematics, indicate if multiple soltuions exist using a matrix
I'm trying to practice inverse kinematics and I'm having a really tough time understanding how you can indicate if multiple solutions exist just using a matrix. I also don't know how I would indicate ...
- 11
0 votes
1 answer
58 views
Mixing coordinate frames and transformations
Could somebody explain to me the mixing of coordinate frames and transformations with each other in Robot Manipulators: Mathematics, Programming and Control by Richard Paul? On page 102 it says: The $...
- 3
0 votes
1 answer
97 views
How to rotate a Homogeneous Transformation Matrix about multiple axes?
I am working on a forward kinematics problem where I have already calculated the relevant transformation between the fixed base frame and the end effector frame of the robotic arm using Homogeneous ...
- 123
0 votes
1 answer
212 views
How to use quaternions in ROS2
I have to use some sort of transformations to generate velocity of a model using global coordinates. This code is for making the model go to specific locations (goals). the problem i am facing is that ...
1 vote
1 answer
90 views
Standard Notation/Name for Velocity Transformations
I've been looking to see if there's any standard notation for a matrix to convert an end-effector velocity vector $\xi_n^0 = \begin{bmatrix} v \\ \omega \end{bmatrix}$ from one frame of reference to ...
- 11
1 vote
1 answer
121 views
Move gantry system to detected position in image plane
I have the following simplified gantry system (cartesian robot) that can move in the x axis direction: My goal is to position the red pointer on top of the target (i.e., I want the real world x-...
