Env. VMware workstation(Ubuntu 18.04 amd64, ROS Melodic) 0. Create package $ mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws/src $ catkin_create_pkg learning_tf tf roscpp rospy turtlesim $ cd .. $ catkin_make $ source ./devel/setup.bash 1. How to broadcast transforms $ roscd learning_tf $ mkdir nodes $ nano ./nodes/turtle_tf_broadcaster.py #!/usr/bin/env python import roslib roslib.load_manifest('lear..