coordinate-frames-and-tf

Standard ROS 2 coordinate frames for navigation include map, odom, base_link, and base_footprint. These frames establish the spatial relationships required to align robots with REP 105 conventions and prevent misconfigurations in navigation stacks.

To enforce a single publisher per transform in TF2, you must configure your nodes to ensure only one broadcaster publishes each frame relationship. This prevents transform conflicts and discrepancies in Nav2, AMCL, and localization pipelines.

Transform discrepancies in a ROS 2 TF tree usually occur when multiple publishers broadcast the same coordinate frame. Enforcing a single publisher per transform resolves these conflicts and corrects drift corrections and misaligned sensors.

Validate your robot's TF tree for Nav2 by checking the publish chain and verifying explicit frame relationships across map, odom, and base_link. This configuration ensures correct frame alignment for localization pipelines.

Configure base_footprint alongside base_link in ROS 2 when your navigation stack requires a ground-projected frame representation. This frame alignment adheres to REP 105 standards and ensures accurate robot positioning relative to the odom and map frames.