ROS的tf_tree相关

１．相关问答

http://answers.ros.org/question/11682/robot_pose_ekf-with-an-external-sensor/

http://ros-users.122217.n3.nabble.com/REP-105-base-footprint-and-odom-combined-td3330244.html

• map --> odom_combined is usually published by amcl (optional)
• odom_combined --> base_footprint is published by robot_pose_ekf
• base_footprint --> base_link is a fixed link in your URDF

注意：对地面机器人来说，出现/map doesnot exist 可能为你的amcl.launch.xml文件中的激光topic 输入不正确

2. How to see tf_tree

http://wiki.ros.org/tf/Debugging%20tools

(1) view_frames

rosrun tf view_frames

evince frames.pdf

(2) monitor

rosrun tf tf_monitor base_link torso_lift_link

(3)RosWTF is a tool that inspects a running system, and reports everything that looks suspicious

roswtf