TF Troubleshooting

This page collects TF and frame-related issues.

Outline

Missing base_link.
Disconnected map, odom, and base_link.
Lidar frame offset.
Camera frame mismatch.
Footprint does not align with the robot model.
Tools for checking TF.

bash

ros2 run rqt_tf_tree rqt_tf_tree
ros2 run tf2_tools view_frames