Results for rostime
names are dependent on your robot configuration. tftree = rostf; pause(1); tf = getTransform(tftree,'/camera_link','/base_link',rostime('now')); Extract the rotation and translation matrixes from the transform. quat = [tf.Transform.Rotation.W,... tf.Transform.Rotation.X,...
Use rostime to retrieve the current system time and use that to timestamp the transformation. This lets the recipients know at which point in time this transformation was valid. tfStampedMsg.Header.Stamp = rostime('now'); Use the sendTransform function to broadcast this transformation.