Quick Start

TF Tree

System-level frame hierarchy and frame-role conventions.

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 from relocalization or global localization
• sensor frames and static robot-description frames from the description layer

Note

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