Tf2 builds up a tree structure of frames it does not allow a closed loop in the frame structure. And, tf2 will take care of all the extra frame transforms that are introduced. tf2 allows you to define a local frame for each sensor, link, etc in your system. it is easiest to reason about a laser scan in a frame at the center of the laser scanner. This is very similar to creating the tf2 broadcaster, and will show some of the power of tf2.įor many tasks it is easier to think inside a local frame, e.g.
This tutorial will teach you how to add an extra frame to the tf2 tree. In the previous tutorials we recreated the turtle demo by adding a tf2 broadcaster and a tf2 listener.
