Introduction To Tf2

[tfoote]

Check the documentation for the 'Introduction To Tf2' page

Setup

• Rmw: Fastdds
• BuildType: Debian
• Os: Noble
• Chip: Amd64

Links

• Introduction To Tf2 page

Checks

• I was able to follow the documentation.
• The documentation seemed clear to me.
• The documentation didn't have any obvious errors.

---

You can find the code used to generate this test case here

[suchetanrs]

I am working on this

[suchetanrs]

There is an issue with turtlesim package. I think it's because the message defs have been moved to turtlesim_msgs

When I run ros2 launch turtle_tf2_py turtle_tf2_demo.launch.py
I got the following error

root@cluttered:~# ros2 launch turtle_tf2_py turtle_tf2_demo.launch.py                                                                                                 
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-05-03-10-55-26-404544-cluttered-1720117                                                         
[INFO] [launch]: Default logging verbosity is set to INFO                                                                                                             
[INFO] [turtlesim_node-1]: process started with pid [1720120]                                                                                                         
[INFO] [turtle_tf2_broadcaster-2]: process started with pid [1720121]
[INFO] [turtle_tf2_broadcaster-3]: process started with pid [1720122]
[INFO] [turtle_tf2_listener-4]: process started with pid [1720123]
[turtlesim_node-1] [INFO] [1746249926.508188288] [sim]: Starting turtlesim with node name /sim
[turtlesim_node-1] [INFO] [1746249926.511491880] [sim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
[turtlesim_node-1] glx: failed to create dri3 screen
[turtlesim_node-1] failed to load driver: nouveau
[turtlesim_node-1] glx: failed to create dri3 screen
[turtlesim_node-1] failed to load driver: nouveau
[turtle_tf2_listener-4] Traceback (most recent call last):
[turtle_tf2_listener-4]   File "/opt/ros/kilted/lib/turtle_tf2_py/turtle_tf2_listener", line 33, in <module>
[turtle_tf2_listener-4]     sys.exit(load_entry_point('turtle-tf2-py==0.6.3', 'console_scripts', 'turtle_tf2_listener')())
[turtle_tf2_listener-4]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[turtle_tf2_listener-4]   File "/opt/ros/kilted/lib/turtle_tf2_py/turtle_tf2_listener", line 25, in importlib_load_entry_point
[turtle_tf2_listener-4]     return next(matches).load()
[turtle_tf2_listener-4]            ^^^^^^^^^^^^^^^^^^^^
[turtle_tf2_listener-4]   File "/usr/lib/python3.12/importlib/metadata/__init__.py", line 205, in load
[turtle_tf2_listener-4]     module = import_module(match.group('module'))
[turtle_tf2_listener-4]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[turtle_tf2_listener-4]   File "/usr/lib/python3.12/importlib/__init__.py", line 90, in import_module
[turtle_tf2_listener-4]     return _bootstrap._gcd_import(name[level:], package, level)
[turtle_tf2_listener-4]            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[turtle_tf2_listener-4]   File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
[turtle_tf2_listener-4]   File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
[turtle_tf2_listener-4]   File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
[turtle_tf2_listener-4]   File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
[turtle_tf2_listener-4]   File "<frozen importlib._bootstrap_external>", line 995, in exec_module
[turtle_tf2_listener-4]   File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
[turtle_tf2_listener-4]   File "/opt/ros/kilted/lib/python3.12/site-packages/turtle_tf2_py/turtle_tf2_listener.py", line 27, in <module>
[turtle_tf2_listener-4]     from turtlesim.srv import Spawn
[turtle_tf2_listener-4] ModuleNotFoundError: No module named 'turtlesim'
[ERROR] [turtle_tf2_listener-4]: process has died [pid 1720123, exit code 1, cmd '/opt/ros/kilted/lib/turtle_tf2_py/turtle_tf2_listener --ros-args -r __node:=listener --params-file /tmp/launch_params_4xi81uua'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

[suchetanrs]

I built the broken package after editing the line from source and it worked fine.

Frames works too

❗ ❗ There is an issue with rviz

root@cluttered:~# ros2 run rviz2 rviz2 -d $(ros2 pkg prefix --share turtle_tf2_py)/rviz/turtle_rviz.rviz
glx: failed to create dri3 screen
failed to load driver: nouveau
glx: failed to create dri3 screen
failed to load driver: nouveau
glx: failed to create dri3 screen
failed to load driver: nouveau
glx: failed to create dri3 screen
failed to load driver: nouveau
[INFO] [1746250584.794075345] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1746250584.794124224] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[INFO] [1746250584.808657332] [rviz2]: Stereo is NOT SUPPORTED
terminate called after throwing an instance of 'resource_retriever::Exception'
  what():  Error retrieving file [/opt/ros/kilted/share/rviz_default_plugins/icons/classes/TF.svg]: Failed to open file
[ros2run]: Aborted
root@cluttered:~# 

[suchetanrs]

PR for the incorrect import is raised here ros/geometry_tutorials#88