tf Debugging tools

1、查看turtle1转换到turtle2的transform

rosrun tf tf_echo turtle1 turtle2

2、Rviz

3、将坐标系的关系生成PDF文档

rosrun tf view_frames

evince frames.pdf

4、Query a running node

If a specific node is having trouble its exact data can be queried using the following command.

rosrun tf view_frames --node=NODE_NAME

This will produce the same frames.pdf.

5、tf_monitor

rosrun tf tf_monitor base_link torso_lift_link

6、

roswtf