@ -27,7 +27,7 @@ ros2 run stretch_ros_tutorials tf_broadcaster
The GIF below visualizes what happens when running the previous node.
The GIF below visualizes what happens when running the previous node.
< p align = "center" >
< p align = "center" >
< img src = "https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2 /images/tf2_broadcaster.gif" / >
< img src = "https://raw.githubusercontent.com/hello-robot/stretch_tutorials/noetic /images/tf2_broadcaster.gif" / >
< / p >
< / p >
**OPTIONAL**: If you would like to see how the static frames update while the robot is in motion, run the stow command node and observe the tf frames in RViz.
**OPTIONAL**: If you would like to see how the static frames update while the robot is in motion, run the stow command node and observe the tf frames in RViz.
@ -35,9 +35,8 @@ The GIF below visualizes what happens when running the previous node.
```{.bash .shell-prompt}
```{.bash .shell-prompt}
ros2 run stretch_ros_tutorials stow_command
ros2 run stretch_ros_tutorials stow_command
```
```
< p align = "center" >
< p align = "center" >
< img src = "https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2 /images/tf2_broadcaster_with_stow.gif" / >
< img src = "https://raw.githubusercontent.com/hello-robot/stretch_tutorials/noetic /images/tf2_broadcaster_with_stow.gif" / >
< / p >
< / p >
### The Code
### The Code
@ -247,7 +246,7 @@ rotation:
```
```
< p align = "center" >
< p align = "center" >
< img src = "https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2 /images/tf2_listener.png" / >
< img src = "https://raw.githubusercontent.com/hello-robot/stretch_tutorials/noetic /images/tf2_listener.png" / >
< / p >
< / p >
### The Code
### The Code