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message_tf_frame_transformer

  • Software
  • Middleware
  • Tool

A ROS node that transforms messages of many types into a different coordinate frame, so other nodes can use data in a frame they expect without changing their code.

Made by Institut für Kraftfahrzeuge, RWTH Aachen, ika, Germany (checked on github.com/ika-rwth-aachen (opens in a new tab)).

Source on GitHub: github.com/ika-rwth-aachen/message_tf_frame_transformer (opens in a new tab). Facts read at commit 8d6f06c (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 8d6f06c (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Transforms arbitrary ROS messages to a target coordinate frame, without modifying the source code of other nodes.
  • Takes an input topic and publishes the transformed messages to an output topic.
  • Requires only the target frame ID; the source frame ID is needed only for non-stamped messages without a header.
  • Optional grace period lets it wait a set number of milliseconds for a transform to become available before dropping a message.
  • Explicitly supports geometry message types such as points, poses, quaternions, transforms, vectors and wrenches, plus PointCloud2.
  • Other message types can be added by including headers and defining them in a macro file.

Written by Robotheca from the project's README (opens in a new tab) at commit 8d6f06c.

Getting started

Difficulty
Beginner

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
24 Jul 2026 on main
Latest release
v1.1.3 (18 Aug 2025)

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.