June 2018
Intermediate to advanced
484 pages
11h 36m
English
Content preview from Robot Operating System Cookbook
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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