ROS进二阶学习笔记（1） TF 学习笔记1:TF介绍 + tf工具

ROS进二阶学习笔记（1） TF 学习笔记1: -- TF介绍 + tf工具

Ref:  http://wiki.ros.org/tf/Tutorials#Learning_tf

>>Ref:  http://wiki.ros.org/tf/Tutorials/Introduction%20to%20tf

惭愧的是，时隔10个月，重新来学习tf的东西。

1. Running the Demo

Now that we're done getting the turtle_tf tutorial package, let's run the demo.

$ roslaunch turtle_tf turtle_tf_demo.launch

Once the turtlesim is started you can drive the center turtle around in the turtlesim using the keyboard arrow keys, select the roslaunch terminal window so that your keystrokes will be captured to drive the turtle.

关于这个demo，解释一下：

• demo 用了tf library
• 建立了3个frame: a world frame, a turtle1 frame, and a turtle2 frame
• 一个tf broadcaster : publish the turtle coordinate frames
• 一个tf listener:
  
  • compute the difference in the turtle frames
  • move one turtle to follow the other
    

就做了上述的几件事情。

开始剖析具体使用tf来做这个demo的步骤之前，先了解一下TF Tools

2. tf Tools

We can use tf tools to look at what tf is doing behind the scenes. 用tf tools来看看背后的tf在怎么工作：

• view_frames
  
• rqt_tf_tree  --rosrun rqt_tf_tree rqt_tf_tree
  
• tf_echo  -- 打印具体tf数据出来
  
• rviz + tf
  

    2.1 Using view_frames

view_frames creates a diagram of the frames being broadcast by tf over ROS.