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Robot Operating System Cookbook by Kumar Bipin

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Using tf_echo

The tf_echo tool reports the transformation between any two frames broadcast over ROS:

$ rosrun tf tf_echo [reference_frame] [target_frame]
$ rosrun tf tf_echo turtle1 turtle2

You may have noticed that the transform is displayed as the tf_echo listener receives the frame's broadcast over ROS:

TF demoing echo frames

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