ros2-transforms

What problem does it solve?

This Skill addresses the need for managing coordinate frames and transform relationships in robotic systems, providing tools to broadcast, listen, and debug transform trees efficiently.

Core Features & Use Cases

• Transform Broadcasting: Publish static and dynamic transforms for sensors, odometry, and robot parts to build a consistent TF tree.
• Transform Lookup: Retrieve latest or timestamped transforms for localization, perception, and planning tasks.
• Debugging & Diagnostics: Visualize and monitor the TF tree to troubleshoot frame disconnections and errors.
• Use Case: During robot development, use this Skill to establish and verify the spatial relationships between different sensors like lidar and camera, ensuring accurate environment perception.

Quick Start

Use the ros2-transforms skill to broadcast a static camera mount transform and look up the transform from the camera frame to the robot base.