Introduction To Tf2

[marcoag]

Check the documentation for the 'Introduction To Tf2' page

Configuration

• Chip set: AMD64
• Build type: Debian
• OS: Ubuntu Noble 24.04
• DDS: FastDDS

Links

• Introduction To Tf2 page

Process

Step 1 - I was able to follow the documentation.

Step 2 - The documentation seemed clear to me.

Step 3 - The documentation didn't have any obvious errors.

[ottojo]

Please assign me this issue, i will go through the tutorial

[ottojo]

No issues with the TF2 introduction using turtlesim and rviz!

Environment

• ros:jazzy docker image
• linux 6.8.8-1-MANJARO, x86_64

Step 1 - I was able to follow the documentation.

Installing the demo

• Packages all installed successfully using apt

Running the demo

• Turtlesim launches without errors
• turtle_teleop_key starts and works

tf2 tools

1 Using view_frames

• view_frames creates pdf diagram of tf tree
• slight differences in terminal output and diagram layout, but not critical (logger prefix, node layout)

2 Using tf2_echo

• tf2_echo works, output exactly matches tutorial

rviz2 and tf2

• provided command starts rviz with correct configuration
• viewing exact numeric values of transforms requires unfolding items in rviz sidebar, looks exactly like in screenshot then

Step 2 - The documentation seemed clear to me.

• all steps are clearly laid out, tf functionality is demonstrated

Step 3 - The documentation didn't have any obvious errors.

• no errors found

Notes

I was about to suggest introducing rqt-tf-tree in this tutorial, but that one actually crashed when i tried to use it just now :smile: I will see if an issue exists for that already...

[clalancette]

I was about to suggest introducing rqt-tf-tree in this tutorial, but that one actually crashed when i tried to use it just now 😄 I will see if an issue exists for that already...

rqt_tf_tree isn't one of the core tools; we typically stick with core tools in the tutorials.

In any case, thanks for the testing! Closing this one out.

[ottojo]

I was under the impression that it was "more or less standard". In any case, i opened an upstream issue https://github.com/ros-visualization/rqt_tf_tree/issues/46

[mikaelarguedas]

When testing this, the fact that tutorial and console output of view_frames referred to file that doesn't exist (frames.pdf) was a bit surprising https://github.com/ros2/geometry2/pull/674

Also the console output of the teleop node didnt match the accepted input https://github.com/ros/ros_tutorials/pull/165