tf2_ros  master
This package contains the ROS bindings for the tf2 library, for both Python and C++.
tf2_ros Documentation

tf2_ros is the C++ ROS wrapper around the tf2 transform library.

Code API

To broadcast transforms using ROS:

To listen for transforms using ROS:

List of exceptions thrown in this library:

  • tf2::LookupException
  • tf2::ConnectivityException
  • tf2::ExtrapolationException
  • tf2::InvalidArgumentException
  • tf2::TimeoutException
  • tf2::TransformException

For more information, see the tf2 tutorials:

Or, get an overview of data type conversion methods in geometry_experimental packages.