Tf
lastmod 2026-02-12created 2026-02-121 edits
tf is a tool in ROS that manages transformations between coordinate frames. When a robot's parts or sensors use different coordinate frames, it accurately tracks and computes the transformations between them. tf provides the following features: - Coordinate transformation management: tracks the relationships when a robot's parts or sensors use different coordinate frames. - Automated coordinate frame transformation: automatically computes and tracks coordinate frame relationships that change over time. - 3D environment visualization support: used together with tools such as rViz, coordinate frame transformations can be checked visually.