Robotics ROS2

Robotics - ROS2 Transform Listener

Posted by Rico's Nerd Cluster on December 5, 2024

Life Cycle

  • tf2_ros::TransformListener starts its own subscription /tf, /tf_static:
    1. node_->create_subscription<tf2_msgs::msg::TFMessage>( … )
    2. stores that subscription in the same callback group / executor your node is using, and
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