To illustrate how to visualize frame transformations, we are going to use the turtlesim example. Run the following command to start the demonstration:
$ roslaunch turtle_tf turtle_tf_demo.launch
This is a very basic example with the purpose of illustrating the tf visualization in rqt_rviz; note that, for the full extent of the capabilities offered by the tf API, you should wait until you have reached later chapters of this section. For now, it is enough to know that it allows us to make computations in one frame and then transform them to another, including time delays. It is also important to know that tf is published at a certain frequency in the system, so it is like a subsystem, where we can traverse ...
