ROS Programming: Building Powerful Robots

Watching the transformation tree

If you want to see the transformation tree of your robot, use the following command:

    $ roslaunch chapter5_tutorials gazebo_map_robot.launch model:="'rospack find chapter5_tutorials'/urdf/robot1_base_01.xacro"
    $ rosrun tf view_frames
  

The resultant frame is depicted as follows:

And now, if you run tf_broadcaster and run the rosrun tf view_frames command again, you will see the frame that you have created using code:

    $ rosrun chapter5_tutorials tf_broadcaster
    $ rosrun tf view_frames
  

The resultant frame is depicted as follows: