TF ROS 101 Python
To finally understand TF and Robot State Publishers in ROS
Imagine the following scenario: you have a robot with a laser mounted on it. In order to be able to use the laser data (e.g. to detect an obstacle), the robot needs to know WHERE that laser is mounted in the robot. If you don’t provide this information to the robot, when the laser detects that obstacle, how can the robot know where the object is? Is it in front of the robot? Or is it behind it?
Well, this relationship between the different parts (frames) of a robot is what is handled by ROS TFs.
In this TF ROS 101 course, you will be able to understand how TF works by practicing in several hands-on exercises
- Visualize TFs
- Publish & Subscribe to TF data
- Understand Transformations & Frames
- Understand Robot State Publishers & Joint State Publishers
- Be comfortable with common TF Command-line Tools (tf_echo, view_frames…)
- Understand Static Transform Publishers
Simulation robots used in this course
Pi robot, Multiple Kobuki Robot, 3d Version of the Classical 2D TurtleSim.
What projects will you be doing?
Create your own TF publisher
Create a publisher that publishes the TF of a new model
Move the iRobot
Create your first TF listener and move the iRobot
Publish the joint_states
Visualize all the TFs moving at the same time as the real robot
Create your own robot with TF from scratch
Apply all of the concepts and tools you learned to your robot
What you will learn
Unit 1: Introduction
Why you need to learn TFs
Unit 2: TF Basics
- Practice First: Playing with TurtleSim
- How to Visualize TFs
1 hr 20 min.
Unit 3: Publish & Subscribe to TF data
- How to publish TF data (Broadcaster)
- How to Subscribe to TF data
Unit 4: Understanding Robot State Publishers & Joint State Publishers
- Discover how they work on a robot simulation
- QUIZ: Launch your own Robot State Publisher & Joint State Publisher for Pi-Robot
Unit 5: Understanding Static Transforms
- How to publish Static Transforms using static_trasnforms_publishers
- QUIZ: Connect 2 TurtleBots using Static Transforms
Unit 6: PROJECT - Create your own robot with TF from scratch
Ready to get started?
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