Tasks: in this assignment you will have to compute transformation matrices between frames attached to the pioneer robot. To this end, you will subscribe to the topic /tf_static and /tf. /tf_static sends the static transformation between the various frames attached to the robot that do not move with respect to each other. As you can see using the rosmsg and rostopic commands, it sends an array of elements of type geometry_msgs/TransformStamped. Each transform, among other things includes two strings, namely frame_id and child_frame_id, as well as a transformation given in terms of translation and rotation represented as a quaternion. The meaning of the strings is the following. The transformation matrix LaTeX: {{^A}_B}T A B T would have frame_id set to A and child_frame_id set to B. Just to clarify the notation, this is the transformation matrix that represents frame B with respect to frame A. Write a ROS node called transformations that: - if possible, computes the transformation matrix between the frames front_sonar and back_sonar (that is the transformation matrix describing front_sonar in the back_sonar frame). After it is computed, it prints it to the screen as a 4x4 matrix. - if possible, computes the transformation matrix between the frame front_sonar and odom and prints this to the screen. Note that, depending on what you query, the same frame can be called pioneer/base_link or base_link. This is the same frame. Similarly, odom is also called as pioneer/odom. These are the same frames. To keep things simple, you can code everything in a single node. Hint: this exercise can be solved in many different ways. You are more than welcome to browse the documentation and use any function in the library you find.

CODE IN C++ PLEASE!

Tasks: in this assignment you will have to compute transformation matrices between frames attached to the pioneer robot. To this end, you will subscribe to the topic /tf static and /tf. /tf_static sends the static transformation between the various frames attached to the robot that do not move with respect to each other. As you can see using the rosmsg and rostopic commands, it sends an array of elements of type geometry_msgs/TransformStamped. Each transform, among other things includes two strings, namely frame_id and child_frame id, as well as a transformation given in terms of translation and rotation represented as a quaternion. The meaning of the strings is the following. The transformation matrix A BTwould have frame id set to A and child frame id set to B. Just to clarify the notation, this is the transformation matrix that represents frame B with respect to frame A. Write a ROS node called transformations that: if possible, computes the transformation matrix between the frames front sonar and back_sonar (that is the transformation matrix describing front_sonar in the back_sonar frame). After it is computed, it prints it to the screen as a 4x4 matrix. if possible, computes the transformation matrix between the frame front sonar and odom and prints this to the screen. Note that, depending on what you query, the same frame can be called pioneer/base link or base link This is the same frame. Similarly, odom is also called as pioneer/odom. These are the same frames. To keep things simple, you can code everything in a single node. Hint: this exercise can be solved in many different ways. You are more than welcome to browse the documentation and use any function in the library you find. Tasks: in this assignment you will have to compute transformation matrices between frames attached to the pioneer robot. To this end, you will subscribe to the topic /tf static and /tf. /tf_static sends the static transformation between the various frames attached to the robot that do not move with respect to each other. As you can see using the rosmsg and rostopic commands, it sends an array of elements of type geometry_msgs/TransformStamped. Each transform, among other things includes two strings, namely frame_id and child_frame id, as well as a transformation given in terms of translation and rotation represented as a quaternion. The meaning of the strings is the following. The transformation matrix A BTwould have frame id set to A and child frame id set to B. Just to clarify the notation, this is the transformation matrix that represents frame B with respect to frame A. Write a ROS node called transformations that: if possible, computes the transformation matrix between the frames front sonar and back_sonar (that is the transformation matrix describing front_sonar in the back_sonar frame). After it is computed, it prints it to the screen as a 4x4 matrix. if possible, computes the transformation matrix between the frame front sonar and odom and prints this to the screen. Note that, depending on what you query, the same frame can be called pioneer/base link or base link This is the same frame. Similarly, odom is also called as pioneer/odom. These are the same frames. To keep things simple, you can code everything in a single node. Hint: this exercise can be solved in many different ways. You are more than welcome to browse the documentation and use any function in the library you find