sendTransform
Send transformation to ROS network
Syntax
Description
Examples
Send a Transformation to ROS Network
This example shows how to create a transformation and send it over the ROS network.
Create a ROS transformation tree. Use rosinit
to connect a ROS network. Replace ipaddress
with your ROS network address.
rosinit;
Launching ROS Core... ....Done in 4.1192 seconds. Initializing ROS master on http://192.168.125.1:56090. Initializing global node /matlab_global_node_16894 with NodeURI http://HYD-KVENNAPU:63122/
tftree = rostf; pause(2)
Verify the transformation you want to send over the network does not already exist. The canTransform
function returns false if the transformation is not immediately available.
canTransform(tftree,'new_frame','base_link')
ans = logical
0
Create a TransformStamped
message. Populate the message fields with the transformation information.
tform = rosmessage('geometry_msgs/TransformStamped'); tform.ChildFrameId = 'new_frame'; tform.Header.FrameId = 'base_link'; tform.Transform.Translation.X = 0.5; tform.Transform.Rotation.X = 0.5; tform.Transform.Rotation.Y = 0.5; tform.Transform.Rotation.Z = 0.5; tform.Transform.Rotation.W = 0.5;
Send the transformation over the ROS network.
sendTransform(tftree,tform)
Verify the transformation is now on the ROS network.
canTransform(tftree,'new_frame','base_link')
ans = logical
1
Shut down the ROS network.
rosshutdown
Shutting down global node /matlab_global_node_16894 with NodeURI http://HYD-KVENNAPU:63122/ Shutting down ROS master on http://192.168.125.1:56090.
Input Arguments
tftree
— ROS transformation tree
TransformationTree
object handle
ROS transformation tree, specified as a TransformationTree
object handle.
You can create a transformation tree by calling the rostf
function.
tf
— Transformations between coordinate frames
TransformStamped
object handle | array of object handles
Transformations between coordinate frames, returned as a TransformStamped
object
handle or as an array of object handles. Transformations are structured
as a 3-D translation (3-element vector) and a 3-D rotation (quaternion).
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Usage notes and limitations:
Supported only for the Build Type,
Executable
.Usage in MATLAB Function block is not supported.
Version History
Introduced in R2019b
See Also
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