Warning

Warning: Unity Simulation is deprecated as of December 2023, and is no longer available.

Set up TFBroadcaster for Sensors

The TFBroadcaster is used to track the frames of the hierarchies containing sensors. It is useful when computing transforms of the sensor data.

Usage

1. The sensor must have a parent with an ArticulationBody component. The name of the parent is used as the sensor's frame ID. For example, a parent object or a frame could be a world frame, a gripper frame, or a head frame of a robot.

2. The sensor's local transformation should be identity (i.e. position and rotation must be set to 0s and scale should be 1) to correctly compute the transform using messages published from the TF Broadcaster. Note: Stereo depth sensor uses two CameraSensors internally which have non-zero position values.

3. Add the TFBroadcaster component to the root GameObject of the ArticulationBody hierarchy in the scene.
   

   

   
   

4. Along with TFBroadcaster, there should be a single TF System component in the scene to publish transform data. The TF System component should be placed in the same GameObject as the Connection component, for example a Dummy Connector or a ROS Endpoint Connector. Note that there can be only one TFSystem component in your Unity scene. So make sure to check other GameObjects such as DefaultVisualizationSuite that contains TFSystem, and disable all but one TF System component in the scene.
   

   

   
   

Resources

1. Use the TFbroadcaster
2. Migrate to Simulation-ROS-Integrations/Update Unity Scenes/TFSystem