PKG - tf

Transform tree defines offsets in terms of both translation and rotation between different coordinate frames.

All transforms move from parent to child.

Example

We get data from laser, i.e. 'base_laser' coordinate frame.

We need a way of transforming the laser scan from the 'base_laser' frame to the 'base_link' frame.

translation = (x: -0.1m, y: 0.0m, z: -0.20m).

tf Tools

$ rosrun tf view_frames // creates a diagram of frames being broadcast by tf

$ rosrun rqt_tf_tree rqt_tf_tree