tf tree empty on PR2

asked 2014-11-17 05:05:52 -0500

NickVT gravatar image

updated 2014-11-22 17:05:54 -0500

ngrennan gravatar image

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


rosrun tf2_tools

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?


  • 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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Your "TF is running" assessment unfortunately says not much. TF is distributed, i.e. TF in itself is not running, Only nodes that provide TF can run and your static_transform_publisher does exactly that. So basic ROS comms work.

dornhege gravatar image dornhege  ( 2014-11-17 05:51:37 -0500 )edit

If there is not TF on the robot usually something is wrong, which should be indicated by errors. Are there any during start-up? Check if the URDF was loaded on the param server (usually /robot_description) and that a robot_state_publisher is running. There should also be a topic: /joint_states

dornhege gravatar image dornhege  ( 2014-11-17 05:53:37 -0500 )edit