TF2 ROS Introduction

• command line tool
  • tf_echo(static)

example

tf tf_echo world robot2_pedestal_link

• tf2_ros package
  • implement functional aspects, and actively maintain relations
  • Transform Pose: allows for “time travel” - look up the spatiotemporal時空 relation
• was there a TF(1) package?
  • yes
  • used in many applications
  • command line tools
  • All in one (vs clear separation in TF2)
• All TF functionalities are migrated to tf2_ros
  • availability of a transform buffer in tf2_ros
• Information representation
  • Quantification
    • 3D Transfromation

    • ROS topic: /tf (tf2_msgs/TFMessage)