tf2 Concept: About tf2 page #1951
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| There is a paper on tf2 presented at TePRA 2013: `tf: The transform library <https://ieeexplore.ieee.org/abstract/document/6556373>`_. |
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While I like the idea of providing the reference, we should be careful to explain that the paper was about the original tf, not tf2. In particular, the concepts in tf and tf2 are the same, though the implementation and API are very different.
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The paper itself actually does not mention anything specific to first tf API. The paper is nice as it covers the very basics of broadcasting and listening, transformations in time and how the transform computation works. I do think that we better mention it.
Originally, paper was directly included in the wiki and I think its even better if we can host it in the docs too. I am myself don't have access to that ieeexplore database, unfortunately.
https://wiki.ros.org/Papers/TePRA2013_Foote?action=AttachFile&do=view&target=TePRA2013_Foote.pdf
Do you think we can include it somewhere and add a link to it? Does current docs website support that?
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I think we can add arbitrary files, but I'm not sure. I'd have to do some more looking at the Sphinx documentation. For now, I'm happy to leave this link and we can look at adding in the paper later.
source/Concepts/About-Tf2.rst
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| In addition to that, tf2 can broadcast static transforms that do not change over time. | ||
| This mainly saves storage and lookup time, though the publishing overhead is also improved. | ||
| You should note that static transforms are published once and assumed to be not changing and therefore no time history stored. | ||
| If your want to define static transforms in your tf2 tree, take a look at writing static tf2 broadcaster :ref:`(Python) <WritingATf2StaticBroadcasterPy>` :ref:`(C++) <WritingATf2StaticBroadcasterCpp>` tutorial. |
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| If your want to define static transforms in your tf2 tree, take a look at writing static tf2 broadcaster :ref:`(Python) <WritingATf2StaticBroadcasterPy>` :ref:`(C++) <WritingATf2StaticBroadcasterCpp>` tutorial. | |
| If you want to define static transforms in your tf2 tree, take a look at the writing static tf2 broadcaster :ref:`(Python) <WritingATf2StaticBroadcasterPy>` :ref:`(C++) <WritingATf2StaticBroadcasterCpp>` tutorial. |
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| Paper | ||
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| There is a paper on tf2 presented at TePRA 2013: `tf: The transform library <https://ieeexplore.ieee.org/abstract/document/6556373>`_. |
There was a problem hiding this comment.
I think we can add arbitrary files, but I'm not sure. I'd have to do some more looking at the Sphinx documentation. For now, I'm happy to leave this link and we can look at adding in the paper later.
Thank you! Done |
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@Mergifyio backport foxy galactic |
* init tf2 concept page (cherry picked from commit 41149f2) # Conflicts: # source/Concepts.rst
* init tf2 concept page (cherry picked from commit 41149f2) # Conflicts: # source/Concepts.rst
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* init tf2 concept page (cherry picked from commit 41149f2)
* init tf2 concept page (cherry picked from commit 41149f2)
This is a basic tf2 overview page that explains tf2 on a very high level, and makes overview of tutorials.
Not sure if it exactly fits into the Concepts sections. Let me know if is not
Signed-off-by: Shyngyskhan Abilkassov abilkasov@gmail.com