Tf2-Main.rst

.. redirect-from::

    Tutorials/Tf2/Tf2-Main

tf2

Many of the tf2 tutorials are available for both C++ and Python. The tutorials are streamlined to complete either the C++ track or the Python track. If you want to learn both C++ and Python, you should go through the tutorials once for C++ and once for Python.

Contents

• Workspace setup
• Learning tf2
• Debugging tf2
• Using sensor messages with tf2

.. toctree::
   :hidden:

   Introduction-To-Tf2
   Writing-A-Tf2-Static-Broadcaster-Py
   Writing-A-Tf2-Static-Broadcaster-Cpp
   Writing-A-Tf2-Broadcaster-Py
   Writing-A-Tf2-Broadcaster-Cpp
   Writing-A-Tf2-Listener-Py
   Writing-A-Tf2-Listener-Cpp
   Adding-A-Frame-Py
   Adding-A-Frame-Cpp
   Learning-About-Tf2-And-Time-Cpp
   Time-Travel-With-Tf2-Cpp
   Debugging-Tf2-Problems
   Quaternion-Fundamentals
   Using-Stamped-Datatypes-With-Tf2-Ros-MessageFilter

Workspace setup

If you have not yet created a workspace in which to complete the tutorials, :doc:`follow this tutorial <../../Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace>`.

Learning tf2

1. :doc:`Introduction to tf2 <./Introduction-To-Tf2>`.

   This tutorial will give you a good idea of what tf2 can do for you. It shows off some of the tf2 power in a multi-robot example using turtlesim. This also introduces using tf2_echo, view_frames, and rviz.

2. Writing a static broadcaster :doc:`(Python) <./Writing-A-Tf2-Static-Broadcaster-Py>` :doc:`(C++) <./Writing-A-Tf2-Static-Broadcaster-Cpp>`.

   This tutorial teaches you how to broadcast static coordinate frames to tf2.

3. Writing a broadcaster :doc:`(Python) <./Writing-A-Tf2-Broadcaster-Py>` :doc:`(C++) <Writing-A-Tf2-Broadcaster-Cpp>`.

   This tutorial teaches you how to broadcast the state of a robot to tf2.

4. Writing a listener :doc:`(Python) <./Writing-A-Tf2-Listener-Py>` :doc:`(C++) <./Writing-A-Tf2-Listener-Cpp>`.

   This tutorial teaches you how to use tf2 to get access to frame transformations.

5. Adding a frame :doc:`(Python) <./Adding-A-Frame-Py>` :doc:`(C++) <Adding-A-Frame-Cpp>`.

   This tutorial teaches you how to add an extra fixed frame to tf2.

6. Using time :doc:`(C++) <Learning-About-Tf2-And-Time-Cpp>`.

   This tutorial teaches you to use the timeout in lookup_transform function to wait for a transform to be available on the tf2 tree.

7. Traveling in time :doc:`(C++) <./Time-Travel-With-Tf2-Cpp>`.

   This tutorial teaches you about advanced time travel features of tf2.

Debugging tf2

1. :doc:`Quaternion fundamentals <./Quaternion-Fundamentals>`.

   This tutorial teaches you basics of quaternion usage in ROS 2.

2. :doc:`Debugging tf2 problems <./Debugging-Tf2-Problems>`.

   This tutorial teaches you about a systematic approach for debugging tf2 related problems.

Using sensor messages with tf2

1. :doc:`Using stamped datatypes with tf2_ros::MessageFilter <./Using-Stamped-Datatypes-With-Tf2-Ros-MessageFilter>`.

   This tutorial teaches you how to use tf2_ros::MessageFilter to process stamped datatypes.