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Data Types

TF can be used either with the underlying Bullet transform types or with the transform types available in the geometry_msgs package. Since tf deals with coordinate frames, every datatype that tf uses needs to be stamped, i.e. extra information is added to the datatype to represent the name of the frame in which it lives and a timestamp. The timestamp typically represents the time at which the data was created/ last valid.

tf can directly operate on the following messages or Bullet datatypes:

2024-06-15 13:48