ROS2 Tools — Coordinate Transforms

Brief

These are my notes on the ROS2 tool coordinate transform (tf). They cover:

• the concept of coordinate transforms and where you use them
• the definition format of the two important message carriers for coordinate transforms, TransformStamped & PointStamped (based on topic communication)
• the two sides of a coordinate transform (broadcaster and listener)
• the coordinate transform tools (a closer look at the related commands, plus debugging tools and so on)

For the software, hardware and technical background, see A brief introduction to the ROS2 learning-notes collection

Important

This article was translated by Hermes Agent; the original text can be found at here. The translation is for reference only. Translation time: 2026-11-05