Use when writing or debugging ROS 2 code that publishes, listens to, or transforms between coordinate frames (TF2): map/odom/base_link trees, static vs dynamic transforms, lookup timeouts, extrapolation errors, multi-robot namespacing. Provides REP-103/REP-105 conventions, exact frame contracts, wor
Use when writing or debugging ROS 2 code that publishes, listens to, or transforms between coordinate frames (TF2): map/odom/base_link trees, static vs dynamic transforms, lookup timeouts, extrapolation errors, multi-robot namespacing. Provides REP-103/REP-105 conventions, exact frame contracts, working rclpy/rclcpp patterns, and a debugging checklist that resolves 95% of TF errors.