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README.md

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A. Transformation Basics

  • Purpose: Coordinate transformations are essential in Autonomous Mobile Robots (AMR) to relate different sensor data and robot positions across various reference frames.
  • Key Frames: Include Map, World, Odometry (global); Base Link, Laser, Camera (robot-specific).
  • ROS TF: Provides tools for managing and applying transformations between frames, crucial for integrating sensor data and robot control.

B - Static and Dynamic Transformation in ROS

  • Static Transformations: Fixed relationships (e.g., sensor to base), published on /tf_static, use StaticTransformBroadcaster.
  • Dynamic Transformations: Changing relationships (e.g., robot to starting point), published on /tf, use TransformBroadcaster.
  • Key Points: Both use TF broadcasters, include translation and rotation, listeners retrieve data, TF tree represents frame hierarchy.

C - Robot and Joint State publisher

  • Robot State Publisher: Broadcasts robot state to tf library, uses URDF to compute and publish 3D poses of links.
  • Joint State Publisher: Publishes JointState messages for non-fixed joints, sources include GUI, subscribed messages, or default values.
  • Key Points: Automates TF publishing from URDF, handles non-fixed joints, useful for testing and visualization, real-world applications use controller_manager.

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