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TF ROS 101 (Python)

To finally understand TF and Robot State Publisher in ROS

About this Course

Any physical system, specially robotics systems, have many coordinate frames that change over time.

A robotic arm, for example, has many different physical parts, each one with its own coordinate frame, that can move at the same time.

With TF, you will know how a hand "knows" the position of an object based on the position of the camera, for example.

What you will learn

This course will centre on hands on experience, making you able to:

1. Publish and Subscribe to TF data topics
2. Use the tools necessary to visualize TF data
3. Publish fixed TF transforms
4. Use RobotStatePublisher to generate TF data for robots to complex to publish it manually
5. Understand the use of JointStatePublisher and how it relates to RobotMovement Controllers

19 hours

Robots used in this course:

- 3D Version of the Classical 2D TurtleSim
- Fully articulated Pi Robot
- Multiple KobukiRobot Simulation

Learning Path
Unit 1

Intro to TF

What's in the ROS TF Course
 (00:03 Hands on training)

How you will learn all that
 (00:03 Hands on training)

Minimum requirements for this course
 (00:03 Hands on training)

Unit 2

TF Basics

What you will be able to do after this Unit
(00:08 Hands on training)

What this have to do with TF anyway
(00:02 Hands on training)

Get an idea of what is happening
(01:20 Hands on training)

Unit 3

TF Publish and Subscribe

TF Publisher
(01:00 Hands on training)

TF Subscriber
(01:00 Hands on training)

Adding more frames
(01:00 Hands on training)

Unit 4

RobotStatePublisher

Know how Pi-Robot works
(00:30 Hands on training)

Create your own robot_state_publisher launch
(01:00 Hands on training)

Joint State Publisher
(01:00 Hands on training)

Unit 5

Static Transforms

Introduction
(00:10 Hands on training)

How it's done in launch files and command line
(00:20 Hands on training)

Practical Application
(01:30 Hands on training)

Unit 6

MicroProject

Spawn a URDF model
(00:10 Hands on training)

Remove a model from Gazebo
(00:10 Hands on training)

Guidelines and the project itself
(04:40 Hands on training)

Unit 7

What to do next

Spawn a URDF model
(00:10 Hands on training)

Remove a model from Gazebo
(00:10 Hands on training)

Guidelines and the project itself
(04:40 Hands on training)

PRESENT
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