Robot Operating System Cookbook

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 ...