영어로 공부한거 한국어로 번역하기가 더 어렵다. 그냥 영어로 정리하련다.

TF Package

TF package is the tranformation library for ROS. It supports transformation between frames, allowing user to find pose of any object in any frames. Since there are framse for every joint on a robot transformation is required configure pose of the robot.

local position of the drink for robot’s head and left hand are different. So we need to make transform to configure global position.

Nodes

I checked nodes based on turtlebot3_gazebo turtlebot3_house and turtlebot3_navigation turtlebot3_navigation.lauch gazebo simulation and navigation stack.

• view_frames : visualizes the full tree of coordinate transform

  you get a pdf file called frame.pdf with graphical image of current frames.

  • ***** using view_frames later than ROS Noetic *****

  

• tf_monitor : monitors transforms between frames

  rosrun tf tf_monitor
  

  

• tf_echo : prints specified transform to screen

  rosrun tf tf_echo source_frame target_frame
  

  

• static_transform_publisher : command line tool for sending static transforms

  static_transform_publisher x y z yaw pitch roll 
  frame_id child_frame_id period_in_ms
  

  Publish a static coordinate transform to tf using an x/y/z offset in meters and yaw/pitch/roll in radians

  using in launch file looks like this

  <launch>
  <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>
  </launch>