Key Engineering Takeaways
- •REP 105 specifies: `map` (global continuous, discrete jumps by SLAM) -> `odom` (local continuous, drifts) -> `base_link` (robot center) -> sensors.
- •Static transforms (camera relative to chassis) must use `tf2_ros::StaticTransformBroadcaster` to avoid wasting topic bandwidth.
- •Always catch `tf2::TransformException` with a timeout when doing transform lookups to prevent node crashes.
Prerequisites
- • Homogeneous transformation matrices
- • ROS 2 nodes
REP 105 Standard Frames: The Standard Robotics TF Tree
ROS standards (REP 105) dictate a strict tree structure without loops:
```
map (World Fixed)
└── odom (Continuous Smooth Local Frame)
└── base_link (Robot Center of Rotation)
├── laser_frame (LiDAR)
├── camera_link (RGB-D Sensor)
└── imu_link (Inertial Unit)
```
Tags:#TF2#Transform Tree#map#odom#base_link#Coordinate Frames