tf_tree_terminal
- Software
- Middleware
- Tool
A command-line debugger for ROS 2 that audits, visualizes and validates the coordinate transform (TF) tree of a robot, checking it against REP 105 and REP 199.
Source on GitHub: github.com/Tanneguydv/tf_tree_terminal (opens in a new tab). Facts read at commit 94e4052 (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 94e4052 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Shows which nodes publish to /tf and /joint_states for each link.
- Distinguishes static latched transforms from live high-frequency streams and reports their frequency.
- Reports the age of transforms in milliseconds to spot jitter or stale data.
- Offers mobile and arm diagnostic profiles that check expected frame chains.
- Flags when the tree is split into several disconnected components.
- Can save the report to a file, refresh live in a terminal, or print a compact tree.
Written by Robotheca from the project's README (opens in a new tab) at commit 94e4052.
Getting started
- Difficulty
- Beginner
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 6 Jan 2026 on master
- Latest release
- 2.0.0 (6 Jan 2026)
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.