| name | TF2 Transforms Skill |
| description | Expert skill for ROS tf2 coordinate frame management and transforms |
| slug | tf2-transforms |
| category | Middleware |
| allowed-tools | ["Bash","Read","Write","Edit","Glob","Grep"] |
| graph | {"domains":["domain:robotics"],"specializations":["specialization:robotics-simulation"],"skillAreas":["skill-area:motion-planning","skill-area:sensor-fusion"],"roles":["role:research-engineer"]} |
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
Target Processes
- robot-system-design.js
- robot-calibration.js
- sensor-fusion-framework.js
- visual-slam-implementation.js
Dependencies
- tf2_ros
- tf2_geometry_msgs
- tf_transformations
Usage Context
This skill is invoked when processes require coordinate frame setup, transform debugging, or multi-robot TF configuration.
Output Artifacts
- Static transform launch files
- Transform broadcaster nodes
- TF tree configurations
- Debug analysis reports
- Namespaced TF setups
- Time synchronization configs
