Dear all,

I am seeing that TF tree is so common in robotics. I am having trouble making sense of what it does and how does it work that I can not seem to apply to my projects. I have searched through internet as well as ros tf but I am not able to fully understand it. Please help or any books on it.

I am using a turtlebot with Kinect sensor and I am trying to understand what is the purpose of transforming one frame to the other? And how are they related?

Thank you