rqttftree

rqt_tf_tree is a visualization plugin for the ROS rqt framework that displays the ROS transform (TF) tree. It provides a graphical view of coordinate frames and their parent-child relationships, updated in real time from TF data published on the ROS network.

Users can inspect which frames exist, see how they are connected, and view the most recently published transforms between frames. The tool helps debug sensor placement, robot joints, and coordinate frame definitions by making the transform topology easy to understand.

Implementation and scope: rqt_tf_tree is implemented as a Python-based rqt plugin that subscribes to TF messages on topics such as /tf and /tf_static (or tf2 topics in TF2-enabled setups) and renders a tree in a Qt-based window. It integrates with the core rqt environment, providing zooming, panning, and frame selection for focused inspection.

Usage: Install the package from the ROS distribution (for example, ros-<distro>-rqt-tf-tree), then run rosrun rqt_tf_tree rqt_tf_tree or launch it from the rqt GUI. Once open, the tree shows frames as nodes and transforms as edges; users can navigate to explore subtrees and verify frame availability and transform timings.

Limitations and scope: rqt_tf_tree relies on TF data being published by other nodes; it does not provide a full TF editing capability. It is designed for visualization and debugging in ROS, and its feature set may vary between ROS distributions and versions of tf vs tf2. See the ROS wiki for compatibility notes and installation guidance.