TF ROS Course - Python
To finally understand TF and Robot State Publisher in ROS
Course Summary
Course Overview
Imagine the following scenario: you have a robot with a laser mounted on it. In order to be able to use the laser data (ej. 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 relation 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 work by practicing in several hands-on exercises
What you will learn
What You Will Learn
- How to Visualize
TFs - How Publish & Subscribe to TF data
- Understanding Transformations & Frames
- Understanding
Robot State Publisher&Joint State Publisher - Be comfortable with common TF Command-line Tools (
tf_echo,view_frames…) - Understanding Static Transform Publisher
Course Overview
Intro to TF
You will have a basic idea of what is in the course and what will you learn about TFs
TF Basics
Have a first contact with TFs and learn to use the tools to visualise them.
Publish & Subscribe to TF data
Learn how to Publish and subscribe to TF topics with a 3d version of turtlesim
Understanding Robot State Publisher & Joint State Publisher
Learn how to use the RobotStatePublisher to publish TF data of complex robots.
Understanding Static Transforms
Learn how to publish static transforms from a launch file and command line when the situation requires it.
PROJECT - Create your own robot with TF from scratch
Project where you will have to create your own robot that publishes its TF
Teachers
Miguel Angel Rodriguez
Crashing engineering problems. Building solutions.
Robots used
3d Version of the Classical 2D TurtleSim robot
box_bot robot
Pi robot robot
Turtlebot robot
Learning Path
ROS For Beginners
