How do I reconstruct a TF tree from a rosbag?
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If I play a rosbag in a terminal and then run
tree = rostf;
I can view the TF tree and access the transforms between frames. What I would like to do is extract the TF tree from the rosbag directly. This should be possible as I have direct access to the '/tf' topic.
A possible acceptable hack would be a way to execute 'rosbag play filename.bag' from the MATLAB script directly.
Ideally, there would be functionality that could work something like the following:
bag = rosbag(filepath);
selectOptions = {'Topic', '/tf'};
bagselect = select(bag, selectOptions{:});
tf = getTransform(bagselect, 'map', 'odom', timestep);
1 Comment
Kyle Stanhouse
on 16 Aug 2016
It sounds like you might have been trying to do the same thing I was - use the Matlab ROS functions to access rosbag files and apply tf's to certain entities, possibly using 'waitforTransform()'? Did you ever find a resolution?
Answers (1)
Josh Chen
on 18 Aug 2023
Hello David,
Yes! You may consider to use the getTransform function in BagSelection Object or rosbagreader Object to get the transformation between two frames in a specific rosbag.
This example shows how to access the transformation from a bag file.
Hope that helps,
Thanks,
Josh
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