Robot Operating System (ROS)

  1. Coordinate Frames and Transformations
    1. Spatial Relationships in Robotics
      1. Importance of Coordinate Frames
        1. Common Reference Frames
          1. Transformation Mathematics
          2. TF2 System Overview
            1. Transform Trees
              1. Time Synchronization
                1. Distributed Transforms
                2. Core TF2 Concepts
                  1. Transforms
                    1. Translation and Rotation
                      1. Homogeneous Matrices
                        1. Quaternions
                        2. Frame IDs
                          1. Naming Conventions
                            1. Frame Hierarchy
                            2. Time Handling
                              1. Temporal Consistency
                                1. Transform Interpolation
                                  1. Transform Extrapolation
                                2. TF2 Library Usage
                                  1. Broadcasting Transforms
                                    1. Static Transform Publisher
                                      1. Dynamic Transform Broadcaster
                                        1. Transform Publishing Rate
                                        2. Listening for Transforms
                                          1. Transform Listener
                                            1. Buffer Management
                                              1. Transform Lookup
                                              2. Transform Trees
                                                1. Parent-Child Relationships
                                                  1. Tree Structure Constraints
                                                    1. Multiple Trees
                                                  2. TF2 Tools and Utilities
                                                    1. tf2_echo
                                                      1. Inspecting Transforms
                                                        1. Transform Monitoring
                                                        2. view_frames
                                                          1. Visualizing Transform Trees
                                                            1. Tree Analysis
                                                            2. tf2_monitor
                                                              1. Transform Debugging
                                                              2. static_transform_publisher
                                                                1. Publishing Static Transforms

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                                                            9. Visualization and Debugging Tools

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                                                            11. Robot Modeling and Description