Getting Ready for ROS Part 6: The Transform System (TF) | Articulated Robotics
tf2
Working With tf2 in ROS Noetic – Automatic Addison
Is not a valid resource graph name and lookupTransform argument target_frame in tf2 frame_ids cannot start with a '/ error? - TF ROS 101 - The Construct ROS Community
tf2/Tutorials/Introduction to tf2
Accelerated tf for ROS | Speed up your robotics coordinate system transformations