Robot Status and Sensor Data:

TF and Calibration Boundaries

Coordinate Tree Coverage and Known Breakpoints

• Coordinate Tree Coverage & Scope Restrictions

  The TF coordinate tree within the current delivery baseline strictly covers only the following node hierarchy:

  odom
    ↓
  base_footprint
    ↓
  base_link

  as well as selected sensor subtrees.

• Known Breakpoints & Limitations

  • Non-Unified Joint Frames: Arm, head, and waist joint coordinate frames are NOT uniformly published to TF.
  • Disconnected Camera Subtrees: Depth camera subtrees may remain disconnected from the main robot base coordinate tree.

Coordinate Transformations and Kinematic Alternatives

Strictly follow the recommended integration pathways based on your specific development requirements:

• Mobile Chassis Localization:

  ros2 run tf2_ros tf2_echo odom base_footprint

• Full-Body Kinematic Solvers: Perform secondary computations by combining the officially delivered URDF model file with real-time joint angles fetched from /robot_slave/states (or /mcap/*).

• Camera-to-Base Coordinate Transforms: Directly utilize local calibration files that strictly correspond to the current device serial number and selected resolution.

• TF Lookup Timeout Handling: If unified TF lookup operations continuously time out, immediately cease reliance on the TF Lookup mechanism and pivot to the "URDF + joint angles" or calibrated parameter pathways described above. Injecting extrinsic parameters via manual guesswork or hardcoding is strictly PROHIBITED.

TIP

Writing calibration files, performing recalibration procedures, and publishing supplemental TF frames modify core system behaviors. These represent High-Risk operations and fall outside the read-only scope of this chapter.