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**geometry_tutorials**: turtle_tf# Package Summary

turtle_tf demonstrates how to write a tf broadcaster and listener with the turtlesim. The tutle_tf_listener commands turtle2 to follow turtle1 around as you drive turtle1 using the keyboard.

- Author: James Bowman
- License: BSD
- Repository: ros-pkg
- Source: hg https://kforge.ros.org/geometry/tutorials

**geometry_tutorials**: turtle_tf# Package Summary

turtle_tf demonstrates how to write a tf broadcaster and listener with the turtlesim. The tutle_tf_listener commands turtle2 to follow turtle1 around as you drive turtle1 using the keyboard.

- Author: James Bowman, Isaac Saito
- License: BSD
- Source: hg https://kforge.ros.org/geometry/tutorials (branch: default)

**geometry_tutorials**: turtle_tf# Package Summary

turtle_tf demonstrates how to write a tf broadcaster and listener with the turtlesim. The tutle_tf_listener commands turtle2 to follow turtle1 around as you drive turtle1 using the keyboard.

- Author: James Bowman, Isaac Saito
- License: BSD
- Source: hg https://kforge.ros.org/geometry/tutorials (branch: default)

# Package Summary

- Maintainer: William Woodall <william AT osrfoundation DOT org>
- Author: James Bowman, Isaac Saito <isaito AT willowgarage DOT com>
- License: BSD

**geometry_tutorials**: turtle_tf | turtle_tf2# Package Summary

- Maintainer status: maintained
- Maintainer: William Woodall <william AT osrfoundation DOT org>
- Author: James Bowman, Isaac Saito <isaito AT willowgarage DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros/geometry_tutorials/issues
- Source: git https://github.com/ros/geometry_tutorials.git (branch: hydro-devel)

**geometry_tutorials**: turtle_tf | turtle_tf2# Package Summary

- Maintainer status: maintained
- Maintainer: William Woodall <william AT osrfoundation DOT org>
- Author: James Bowman, Isaac Saito <isaito AT willowgarage DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros/geometry_tutorials/issues
- Source: git https://github.com/ros/geometry_tutorials.git (branch: indigo-devel)

**geometry_tutorials**: turtle_tf | turtle_tf2# Package Summary

- Maintainer status: maintained
- Maintainer: William Woodall <william AT osrfoundation DOT org>
- Author: James Bowman, Isaac Saito <isaito AT willowgarage DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros/geometry_tutorials/issues
- Source: git https://github.com/ros/geometry_tutorials.git (branch: indigo-devel)

**geometry_tutorials**: turtle_tf | turtle_tf2# Package Summary

- Maintainer status: maintained
- Maintainer: William Woodall <william AT osrfoundation DOT org>
- Author: James Bowman, Isaac Saito <isaito AT willowgarage DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros/geometry_tutorials/issues
- Source: git https://github.com/ros/geometry_tutorials.git (branch: indigo-devel)

**geometry_tutorials**: turtle_tf | turtle_tf2# Package Summary

- Maintainer status: maintained
- Maintainer: William Woodall <william AT osrfoundation DOT org>
- Author: James Bowman, Isaac Saito <isaito AT willowgarage DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros/geometry_tutorials/issues
- Source: git https://github.com/ros/geometry_tutorials.git (branch: indigo-devel)

Contents

## Overview

This tutorial package provides a `turtle_tf_broadcaster` and `turtle_tf_listener` for teaching the basic concepts of tf. The default demo will cause turtle2 to follow turtle1, the tf tutorials extend this demo.

## Running the Tutorial Code

To run the default example, start by getting the required dependencies and making the package.

$ rosdep install turtle_tf $ rosmake turtle_tf

Then in `roslaunch` the demo:

$ roscd turtle_tf $ roslaunch launch/turtle_tf_demo.launch

You will see the turtlesim start with two turtles.

Once the turtlesim is started you can drive the center turtle around in the turtlesim using the keyboard arrow keys, **select the roslaunch terminal window** so that your keystrokes will be captured to drive the turtle.

As you can see that one turtle will continuously move to follow the turtle you are driving around.