Multi-RobotSystemswithROSLesson5.docxVIP

Multi-Robot Systems with ROS  Lesson 5 Teaching Assistant: Roi Yehoshua roiyeho@ Agenda Coordinate frames tf prefix Get a robot position Leader-Followers formation (C)2014 Roi Yehoshua Coordinate Frames In ROS various types of data are published in different coordinate frames Such as the positions of different robots Coordinate frames are identified by a string frame_id in the format /[tf_prefix/]frame_name  The frame_id should be unique in the system (C)2014 Roi Yehoshua tf tf is a package that lets the user keep track of multiple coordinate frames over time tf maintains the relationship