Transactional Transform Library for ROS
Yushi Ogiwara,Ayanori Yorozu,Akihisa Ohya,Hideyuki Kawashima,Yushi Ogiwara,Ayanori Yorozu,Akihisa Ohya,Hideyuki Kawashima
In the Robot Operating System (ROS), a major middleware for robots, the Transform Library (TF) is a mandatory package that manages transformation information between coordinate systems by using a single-rooted directed tree and providing methods for registering and computing the information. However, the tree has two fundamental problems. The first is its poor scalability: since it accepts only a ...
