TF ROS2 Course - Python

To finally understand TF in ROS2

Course Summary

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

Course Overview

Course Introduction

TF Basics ROS2

Have a first contact with TFs and learn to use the tools to visualise them.

BroadCast & Listen to TF data

Learn how to Publish and subscribe to TF topics

Robot State Publisher

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

Course Project

Apply what you have learned in the course to solve a real life situation.

Teachers

Miguel Angel Rodriguez

Crashing engineering problems. Building solutions.

Roberto Zegers

PMP, B.Sc in Business Management. He loves all things robotics and is constantly exploring technology advancements evolving and shaping up the future of business.

Robots used

cam_bot robot

turtle_ros2 robot

Learning Path

Get started with ROS2