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 ...