Robot Operating System Cookbook

Compiling and running the TF

In the preceding subsection, we had to learn to develop the code for the TF demo application. To compile this, we will have to make an entry in CMakeLists.txt about source files and compilation rules:

add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp) 
target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES}) 
 
add_executable(turtle_tf_listener src/turtle_tf_listener.cpp) 
target_link_libraries(turtle_tf_listener ${catkin_LIBRARIES}) 

Now, we can build the package from the top folder of the workspace using catkin_make. If everything goes well, we will have binary files called turtle_tf_broadcaster and turtle_tf_listner in our devel/lib/ folder. To start the application, we will create a launch ...