In this module, we will learn the basic concepts of a very useful ROS tool TF. In fact, this is the most important tool if you intend to work with real world robotic applications where you want to interact with your environment.

The two robots are uncertain about the location of the TurtleBot. This is where TF comes to the rescue!

Launch, and look at the argument between the robots:
$ roslaunch hrwros_gazebo hrwros_enviroment.launch
$ rosrun hrwros_week5 robot_squabblers.py

ROS TF:

• Keeps track of spatial and temporal relationships:
  • • Using reference frames in 3D.
    • Provides a framework to represent rotations.
    • Uses the Right-Hand Rule.