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tf_logger will record the changes of frames published through tf each with respect to a given reference frame.


    $ rosrun tf_tools tf_logger FREQUENCY REF_FRAME LOG_FRAME [REF_FRAME LOG_FRAME ...]

E.g. if you want to log both the transforms /world -> /odom and /odom -> /base_link at a frequency of 5 Hz, run

    $ rosrun tf_tools tf_logger 5 /world /odom /odom /base_link

You can log as many transformations as you wish.

2024-07-13 14:39