Courses / fundamentals

ROS 2 TF

beginner~10 hours11 lessonsEnvironment: docker

Prerequisites: ros2-basics, maths-for-robotics

Start: Why every sensor needs a framePractice questions

Modules

Module 1 — Frames on real robots
  1. 1Why every sensor needs a frame
  2. 2The TF tree
  3. 3Widget: TF tree explorer
  4. 4Inspecting frames (tf2_echo, view_frames)
Module 2 — Broadcasting transforms
  1. 1Static transform broadcaster
  2. 2Dynamic broadcaster in rclpy
  3. 3Quaternions in tf2 code
Module 3 — Listening and transforming data
  1. 1TransformListener and buffers
  2. 2Transforming points between frames
  3. 3Time travel: lookup at a timestamp
  4. 4Project: turtle-follows-turtle with TF

Textbooks

Video resources

  • TF explained — Articulated Robotics