5.2.1 Introduction to TF

Course subject(s) Module 5. Robot Vision

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


  • Keeps track of spatial and temporal relationships:
      • Using reference frames in 3D.
      • Provides a framework to represent rotations.
      • Uses the Right-Hand Rule.
Creative Commons License
Hello (Real) World with ROS - Robot Operating System by TU Delft OpenCourseWare is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
Based on a work at https://online-learning.tudelft.nl/courses/hello-real-world-with-ros-robot-operating-systems//.
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