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TF2 Transforms Skill

// Expert skill for ROS tf2 coordinate frame management and transforms

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stars:384
forks:73
updated:March 4, 2026
SKILL.mdreadonly
SKILL.md Frontmatter
nameTF2 Transforms Skill
descriptionExpert skill for ROS tf2 coordinate frame management and transforms
slugtf2-transforms
categoryMiddleware
allowed-toolsBash,Read,Write,Edit,Glob,Grep

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