rct-tools

Software tools for the Robotics Coordinate Transform library.

CmdLine Tools

Sending static transforms

$ rct-static-publisher -n "example-static-publisher" -c transforms.xml

A examplary configuration file:

<rct>
    <core>
        <cachetime value="30" />
    </core>
    <transforms>
        <transform parent="foo" child="bar">
            <translation x="1.0" y="2.0" z="3.0" unit="METER" />
            <rotation qw="4.0" qx="3.0" qy="2.0" qz="1.0" unit="RADIAN" />
        </transform>
        <transform parent="bar" child="baz">
            <translation x="1.0" y="2.0" z="3.0" unit="CENTIMETER" />
            <rotation roll="4.0" pitch="3.0" yaw="2.0" unit="DEGREE" />
        </transform>
    </transforms>
<rct>

Print a transform

$ rct-echo "foo" "bar"

View the complete coordinate system tree

$ rct-view

Convert rst Pose events to rct transforms

$ rct-from-rst -c rst-rct-config.xml

A examplary configuration file:

<rct>
    <core>
        <cachetime value="30" />
    </core>
    <messages>
        <message  parent="foo" child="bar" scope="/nav/slampose" authority="slam" />
        <message  parent="bar" child="baz" scope="/arm/ee/pose" authority="armserver" />
    </messages>
</rct>

Create a bridge between ROS/TF and RSB/RCT

$ rct-ros-bridge