Configurable tf2 client wrapper switching between local and remote buffer.
rospy.init_node('awesome_node')
buffer = tf2_client.get_buffer()
buffer.lookup_transform(target_frame, source_frame, time)
- For remote buffer (parameters of
tf2_ros.BufferClient
):~tf_server
, defaults toNone
~tf_check_frequency
,None
~tf_timeout_padding
,2.0
- For local buffer (parameters of
tf2_ros.Buffer
andtf2_ros.TransformListener
):~tf_cache_time
,10.0
~tf_queue_size
,None
~tf_buff_size
,65536
Remote buffer is used if parameter ~tf_server
is specified.