Why is tf_broadcaster a subscriber and tf_listener a publisher?
Dear all, I am rather new to ROS and I do not understand the tf library very well. I am going through tutorials, in particular those on http://wiki.ros.org/tf/Tutorials/ . I do not understand the tf_listener and the tf_broadcaster tutorial. If i understand correctly, the tf_broadcaster builds or updates the transformation tree representing the robot. On the other hand, the tf_listener makes queries on that tree.
In this sense, why is the tf_broadcaster associated with ropsy.Subscriber? Should the tree not be published instead? And on the other hand, why is tf_listener not associated with rospy.Subscriber, but rather with ropsy.Listener?
I feel that I am understanding something very wrongly. If someone could light my lanter, I'd appreciate! Have a nice day!