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ROS 2 Frame Component
The ROS 2 Frame component reflects the concept of ROS frames of reference for coordinates, which follow a REP103 standard . It is commonly used in any robotic system, for example sensors typically publish in their own reference frame, and localization is about finding a transformation from robot local frame to a more general frame of reference. ROS 2 Frame component also handles namespaces which are essential for multi-robot simulations.
Provider
Dependencies
The ROS 2 Frame component depends on Transform Service, which is provided by Transform component.
Properties
| Property | Description | Values | Default |
|---|---|---|---|
| Namespace Configuration | Determines how to set the namespace for the component, which can be empty, custom, or derived from entity name. | Enumeration | Default (from name for top level entities, empty otherwise) |
| Frame Name | Name of the frame, which is used as frame_id field for published messages and broadcasted transforms. | String | sensor_frame |
| Joint Name | Name of the joint for this entity, which is supplementary information required by joint control APIs. | String | empty |
| Publish Transform | Determines whether the transformation to this frame’s parent is included in the broadcasted transforms. | Boolean | true |
| Effective namespace | Read only value providing the effective namespace of the frame. It is automatically updated and takes other frames into consideration. | String | empty |
Usage
ROS 2 Frame component handles namespace, frame id, and joint name associated with an entity, which is a part of a robot.
Many other components such as sensors and controllers depend on it. ROS 2 Frame works internally with these components to
ensure namespacing of topics, sending of proper frame_id in each message, and broadcasting of transforms to /tf and /tf_static topics.