A Concise Introduction to Robot Programming with ROS2 by Rico Francisco Martín;

Author:Rico, Francisco Martín;
Language: eng
Format: epub
Publisher: CRC Press LLC
Published: 2022-09-05T00:00:00+00:00

To know what is the rotation from frame A to frame B at time t.

To ask to transform a coordinate that is in frame A and to frame B in an arbitrary time t.

The buffer may not contain just the TF at time t, but if it has an earlier and a later one, it performs the interpolation. Likewise, frames A and B may not be directly connected, but more frames are in between, performing the necessary matrix operations automatically.

 2It is needed to have installed the package ros-foxy-rqt-tf-tree Without going into much detail, for now, publishing a transform to a ROS2 node is very straightforward. Just have a transform broadcaster and send transforms to the TF system:

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