The Return of listener.lookupTransform


In the example of Publish %Subscribe, once the command rosrun tf tf_echo turtle1 turtle2 is executed, we get the translational data Translation: [0.654, 0.018, 0.040]. Is this XYZ position with respect to the world frame or another frame?

Hi @youngyangcs
It is the translation from turtle1 frame to the turtle2 frame. Meaning in respect to the turtle1 frame.