## repository: https://code.ros.org/svn/ros-pkg
<<PackageHeader(turtle_tf)>>
<<TOC(4)>>

== 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|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.

 . {{attachment:tf/Tutorials/Introduction to tf/turtle_tf_start.png}}

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.

 . {{attachment:tf/Tutorials/Introduction to tf/turtle_tf_drive.png}}

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

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## CategoryPackageROSPKG