sensor-frame-mounting

To mount a sensor frame in URDF, add a fixed joint linking the sensor to its parent link and set the origin to the sensor's physical offset. This ensures a consistent transform from base_link to the sensor_link for correct ROS 2 TF workflows.

Sensor data appears misaligned in RViz due to incorrect URDF sensor frame mounting. Misaligned frames lead to invalid TF chains, causing data framing errors and degraded perception pipelines. Correct frame_id naming and origin offsets are required to fix this.

A ROS body frame follows the standard X-forward orientation, while an optical frame follows the Z-forward convention used by camera drivers. Defining the correct origin offset between them in URDF aligns the sensor data with the designated frame_id.

You can verify URDF sensor transforms by running TF inspection commands to validate the transform chain. This ensures the fixed joints and origin offsets are correctly configured, preventing data misplacement in RViz or downstream perception pipelines.

Yes, a fixed joint is required to attach GPS or IMU sensor frames in URDF. Using fixed joints ensures a valid TF chain from the base_link to the sensor_link, preventing frame misalignment and data corruption for mounted sensors.