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ROS 2 Labs · exercise 07

Compose a transform chain

Add two link offsets for the special case where both transforms have identity rotation.

Lab 07 · tf2, URDF and xacro

Guided steps

  1. 1.Confirm both transforms have identity rotation; only then add translations component by component.
  2. 2.Print the composed translation with three decimals, in metres.
  3. 3.This matches tf2_echo only for this zero-rotation model; general composition must rotate the child translation and compose orientation.

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