ROS2 humble tf2 examples
Installation:
$ git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
$ cd Universal_Robots_ROS2_Driver
$ git checkout humble
Run UR5 simulation:
$ ros2 run ur_robot_driver start_ursim.sh -m ur5
$ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101 launch_rviz:=true
Publish static transform:
$ ros2 run tf2_ros static_transform_publisher 0 0 0.1 0.0 0.0 0.0 tool0 gripper
Check transformations:
$ ros2 run tf2_ros tf2_echo tool0 gripper
$ ros2 run tf2_tools view_frames
Build package:
$ colcon build
Example use:
$ ros2 run tf_tutorial py_tf_listener