I'm wondering if there is a good way to get transforms (rotation and translation) from tf data recorded in bag files. I'm working in python and I don't want to replay the bag file as part of the solution. Instead I want to be able to get other messages from the bag file and use tf to find the euclidean distance between two frames on the robot at the same time instant as my message of interest. Any thoughts?
I could look at parent-child relationships in a single tf message and string the transforms together, but then I'd be recreating the functionality of tf. Is there a utility or tool for getting a transformation from a single tf message (i.e. not using ROS to wait for transform or having to replay the bag file). Thanks a lot for any ideas.
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