tf2¶

TF2 = TransForm 2

links¶

links = parts of a robot (ie. Lidar, wheels, thrusters, and camera) links are joined together by joints

view links of a robot:¶

Open Rviz
Select the robot from the left panel
expand the "links" tab

positions and rotations¶

base_link is the origin of a robot, and all other parts of the robot are positioned relative to base_link (it is similar to classes and subclasses) arrows show hierarchy of the tree: the arrow points toward the parent - Red = X axis - Green = Y axis - Blue = Z axis tf2 visual

the /tf topic¶

tf2-tools¶

install via sudo apt install ros-humble-tf2-tools

viewing data¶

ros2 run tf2_tools view_frames creates 2 files: PDF and URDF file PDF gives visual description of the tf2 'tree'