tf2 listener cpp tutorial: minor syntax/wording improvements (backport #4434) #4460
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* tf2 listener cpp tutorial: minor syntax/wording improvements * add link to tf2 concepts page (cherry picked from commit bfbd9bc)
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some changes i think might improve readability, as discovered in osrf/ros2_test_cases#1176.
i would have liked to add a link to a more generic "tf concepts" page, but i didnt find anything satisfactory. i really like tho the first two paragraphs in #4235 which i found very insightful especially around the question of target/source terminology and frame order.
This is an automatic backport of pull request #4434 done by Mergify.