1 Install related dependencies

1.1 Linux installation package

sudo apt-get install ros-galactic-turtle-tf2-py ros-galactic-tf2-tools ros-galactic-tf-transformations

1.2 python installation package

pip3 install transforms3d

2 Use

2.1 Icon Broadcast

ros2 run tf2_tools view_frames

2.2 Broadcast data

ros2 run tf2_ros tf2_echo [reference_frame] [target_frame]

3 The relationship between rviz and tf2

rviz is a visualization tool that can be used to inspect tf2 frames