How to visualize the TF tree to debug mapping/localization
How to generate a TF tree (frames.pdf) to debug mapping/localization frames.
Use the dev container and generate the TF tree PDF:
1) Start the dev container:
docker compose up dev -d2) Enter it:
docker compose exec dev bash3) Generate the TF tree:
ros2 run tf2_tools view_framesThis listens to /tf briefly and writes frames.pdf in the current directory. Open the PDF to inspect how frames like base_link, odom, and camera frames connect.
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