ROS Apply Transform, ROS 2 Apply Transform

Transform input ROS or ROS 2 message to target frame

Since R2023b

• 

×

Libraries:
ROS Toolbox / ROS
ROS Toolbox / ROS 2

Description

The Apply Transform block transforms the input ROS or ROS 2 entity message to the target frame based on the homogeneous transformation value specified in the input gemonetry_msgs/TransformStamped message. The Apply Transform block supports these input entity message types:

• geometry_msgs/PointStamped

• geometry_msgs/PoseStamped

• geometry_msgs/QuaternionStamped

• geometry_msgs/Vector3Stamped

To transform the entity message into target frame, the block applies forward transformation to the entity message using the pre-multiply convention.

Examples

Read and Apply Transformation to ROS Message in Simulink

Read transformations from ROS network and use them to transform a pose message using Simulink®.

• Open Live Script

Read and Apply Transformation to ROS 2 Message in Simulink

Read transformations from ROS 2 network and use them to transform a pose message using Simulink®.

• Open Live Script

Ports

Input

TFMsg — ROS or ROS 2 geometry_msgs/TransformStamped message

non-virtual bus

ROS or ROS 2 geometry_msgs/TransformStamped message, specified a non-virtual bus.

Entity — ROS or ROS 2 entity message

non-virtual bus

ROS or ROS 2 entity message, specified as a non-virtual bus.

Output

TFEntity — Transformed ROS or ROS 2 entity message

non-virtual bus

Transformed ROS or ROS 2 entity message, returned as a non-virtual bus. The output TFEntity message has the same message type as input Entity message.

Parameters

Entity message type — Type of input entity message

geometry_msgs/QuaternionStamped (default) | geometry_msgs/Vector3Stamped | geometry_msgs/PointStamped | geometry_msgs/PoseStamped

Type of input entity message specified as one of these options:

• geometry_msgs/PointStamped

• geometry_msgs/PoseStamped

• geometry_msgs/QuaternionStamped

• geometry_msgs/Vector3Stamped

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2023b