TF Tree

Goal¶

This page records the expected frame hierarchy used across the robot stack.

Core Idea¶

Even when algorithms are swapped, the surrounding TF responsibilities should stay stable:

odom -> base_link from odometry
map -> odom reserved for a future relocalization or global-localization module
sensor frames and static robot-description frames from the description layer

The default workspace currently does not initialize small_gicp_relocalization, so map -> odom is a reserved contract instead of an active default publisher.

Note¶

The Chinese page remains the detailed source for the complete TF notes.