tf view_frames and tf_echo

These are two of the basic tools to use:

> view_frames: This tool creates a diagram of frames that are being broadcast by tf over ROS.

$ rosrun tf view_frames

It draws a tree of how the frames are connected, to see it use the next command:

$ evince frames.pdf

> tf_echo

tf_echo reports a transform between two frames broadcast over ROS. To use it you need to specify both frames in the command line.

like this:

rosrun tf tf_echo [reference_frame] [target_frame]