ROS2 Tutorials - ROS2 Jazzy Tutorial on tf2 library and C++ frame broadcaster implementation (link given below)

#ros2 #ros2jazzy #mechatronics #robotics The tutorial is given here: https://www.youtube.com/watch?v=a_M7097Vcs0 In this tutorial, we explain the basics of the tf2 frame transform library, and we explain how to write a frame transform broadcaster node that publishes frame transforms. To explain the main ideas of the tf2 library, and frame broadcaster, we constructer the model shown over here. This model consists of three objects or by using the ROS2 terminology, links. The first object is stationary, and the two objects rotate around it with a constant angular velocity. Furthermore, the two objects rotate around their own vertical axes. This type of motion is achieved by constantly broadcasting coordinate transforms. If we click here, the objects will disappear and their frames will become visible. We have three frames associated with three objects. The two rotating frames are rigidly attached to the corresponding objects. The frames are also rotating around their axes. The broadcaster ROS2 node continuously calculates and publishes frame transforms between rotating frames on one side, and the fixed frame. Everything explained in this tutorial is of paramount importance for properly understanding the ROS2 programming language and for writing more complex ROS2 programs that can be used for standard robotic tasks.