ROS PoseTree Package

Overview

This package provides a ROS2 wrapper for the PoseTree library, which was written by Benjie Holson - https://github.com/robobenjie/posetree. It allows for efficient and easy calculations with poses and transforms in a ROS2 environment. This package is especially useful for dealing with complex robot systems where multiple transforms need to be managed and calculated.

Key Components

This package consists of several key components:

• ros_posetree.py: which has RosPoseTree class, which fetches transforms from tf2 and converts them into a format that PoseTree understands.

• pose_marker_manager.py: This module includes the PoseMarker and PoseMarkerManager classes for managing visualization markers in ROS. This helps the user to visualize the poses in RVIZ.

Example

There are 2 python programs that need to be run:

• test/tf2_publisher.py: This script defines a TF2Broadcaster node in ROS2. It creates two transforms and broadcasts these transforms at regular intervals. This is used to simulate a simple Robot in ROS2

• test/pose_tree_example.py: This script demonstrates the usage of the PoseTree library in a ROS2 node. It creates various poses, adds markers for these poses, and calculates some properties relative to these poses.

Getting Started

Install posetree

pip install posetree

compile this package with colcon

To run the example script, use the following command in 2 terminals:

python test/pose_tree_example.py

python test/tf2_publisher.py

Then start rviz2 and add TF + MarkerArray to view the poses.

License

This project is licensed under the BSD-3-Clause License.