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tf tree setup

Hello

I am new to ros and I want to use the robot_localization package to estimate the state of my real-life 2D robot and then use the navigation package to navigate the robot. My question is if the robot_localization package already provide a tf tree or do I have to set it up by myself? I am using Python to build my files. I already followed the TF-tutorials for Python but I am still confused how to set up the tree. I understand you have a broadcaster and a listener but how can I connect the frames provided by the robot_localization package? When launching "ekf_template.launch" and then doing "rosrun tf view_frames" i get "no tf data received". In the navigation package, there is a map provided by the map_server.

Kind regards, Stef