Online Course


To finally understand TF in ROS2

Course overview

Imagine the following scenario: you have a robot drone with a camera that has to follow another subject to fil it correctly. How do you tell the robot where to point the camera? How to follow the subject and at which distance? And all of this dynamically? What is the distance from the camera to the subject? Is the orientation okay?

ROS2 TFs handle this relation between the different parts (frames) of a robot.

In this TF ROS2 course, you will be able to understand how TF works by practicing in several hands-on exercises

What You Will Learn


How to Visualize TFs in ROS2


How to Publish & Subscribe to TF data


Understanding Transformations & Frames


Common TF Command-line Tools (tf_echo, view_frames…)


Understanding Static Transform Publisher

100% Online

No ROS setup is required. Everything is online.

Intermediate Level


Approx. 11 hours to complete

Simulated Robot Used

CAM_BOT Simulation

This robot has 6 degrees of freedom which means that it can move on both the X, Y, and Z-axis and can rotate on all three axes. It has a camera that you use to record whatever you want, and it is controlled in a very special way – It will follow whatever robot frame you tell it to follow.

TURTLE Simulation

This robot behaves like the classical ROS turtle_sim used in many ROS tutorials. The only difference is that it is a 3D robot. So it moves as any differential drive where a two-wheeled drive robot would move.


Unit 1: TF Basics ROS2

Review TFs and learn to use the tools to visualize them. 

In this unit, you will learn the following:

  • TF theory
  • Visualizing TF frames through TF trees
  • Visualizing TF frames through RVIZ

Unit 2: Broadcast & listen to TF data

Learn how to Publish and Subscribe to TF topics.

In this unit, you will do the following:

  • Create a TF Broadcaster
  • Create a Static Broadcaster
  • Create a TF Listener
  • Understand the relation between time and TFs


Unit 3: Robot State Publisher

Learn how to use the RobotStatePublisher to publish TF data of complex robots.

In this unit, you will learn the following:

  • The function of Robot State Publisher
  • How to use it
  • Robot State Publisher VS Joint State Publisher

What our students think

I am wholeheartedly grateful for this outstanding opportunity. I wouldn’t have found a better ROS beginner-friendly course elsewhere. Thanks, ConstructSim !

Francois Gonothi Toure

I have tried to start learning ROS before and that was so difficult because I didn’t understand how to start, now with these introductory courses I am very excited because I can finally start to enter this world.

Daniel Martínez

“I really enjoy the practical aspect and learning by doing. I feel like I learn way faster and with a rich understanding.”

Jose Dos Santos

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