We now know how TF frames get created, and where they are defined. Let’s now see them in the context of our factory world!

In a new CCS:

• Source your setup files
• Launch the factory simulation, in RViz like in week 2!
  • Do this by adding the arguments: gui:=false rviz:=true

• On the left panel in RViz, you can enable the option to show all TF links. There are so many! Let’s turn most of them off and only show robot2_pedestal_link.
  • To really see it, you might need to disable rendering the pedestal in the RobotModel section.
  • It appears on the location of the joint between the world, and the robot2 pedestal link. Because the pedestal is static, the TF is also static.
• Now enable the vacuum_gripper2_suction_cup TF.
  • Switch to a new terminal, source your setup files, and start MoveIt! Commander.
  • Use the go command, to move the robot to the R2Up position.
  • Try and execute the command while you can also see the TF in RViz! You can see it moving with the arm.
• This shows TF frames are updated by both the robot description parameter and the joints state information.