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Robot Operating System Cookbook by Kumar Bipin

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Getting ready

In this section, we will discuss TF and its uses in robotics application development. We will learn about some of the power TF has in a multi-robot example using turtlesim and also introduce you to TF visualization and debugging tools such as tf_echo, view_frames, rqt_tf_tree, and rviz.

First of all, we will install the required packages from the ROS repository:

$ sudo apt-get install ros-kinetc-ros-tutorials ros-kinetic-geometry-tutorials ros-kinetic-rviz ros-kinetic-rosbash ros-kinetic-rqt-tf-tree

After installing the required packages, we will start the demo example:

$ roslaunch turtle_tf turtle_tf_demo.launch

Once the turtlesim demo is started, we will drive the center turtle around in turtlesim using the keyboard arrow ...

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