TF2 Transforms Skill

Overview

Expert skill for managing ROS tf2 coordinate frames, transform broadcasting, and debugging transform connectivity issues.

Capabilities

• Configure static transforms for robot links
• Implement dynamic transform broadcasters
• Set up tf2 listeners with time synchronization
• Debug transform chains and connectivity
• Configure transform lookup caching
• Implement transform extrapolation
• Set up multi-robot namespaced transforms
• Configure map-odom-base_link chain
• Implement sensor frame transforms
• Debug TF_REPEATED_DATA and other issues