# tf tree empty on PR2

Hi all,

We have a PR2 and when starting it up (claim and start) under any account, the tf tree

rostopic echo /tf


No frames show up, only

 --- transforms: []


tf_static is empty,

rosrun tf view_frames


or

rosrun tf2_tools view_frames.py


Do not show any frames. TF is running however, and I can publish new transforms, which will be shown, e.g.

rosrun tf static_transform_publisher 1 0 0 0 0 0 1 link1_parent link1 100


Normally (before and also in simulation) multiple frames should be advertised when starting the PR2. Any hint in what went wrong? Does it have to do with tf2? And where to start looking?

system:

• PR2
• Ubuntu 12.04.2 LTS
• ROS Groovy
• tf related installations:
• i A ros-groovy-roswtf - roswtf is a tool for diagnosing issues wit
• i A ros-groovy-rqt-tf-tree - rqt_tf_tree provides a GUI plugin for visu
• i A ros-groovy-tf - tf is a package that lets the user keep tr
• i A ros-groovy-tf-conversions - This package contains a set of conversion
• i A ros-groovy-tf2 - tf2 is the second generation of the transf
• i A ros-groovy-tf2-geometry-msgs - tf2_geometry_msgs
• i A ros-groovy-tf2-kdl - KDL binding for tf2
• i A ros-groovy-tf2-msgs - tf2_msgs
• i A ros-groovy-tf2-ros - This package contains the ROS bindings for
• i A ros-groovy-tf2-tools - tf2_tools
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