ROS2 CI

TF-Tree CLI Debugger

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      TF-TREE CLI DEBUGGER

A lightweight ROS 2 utility for auditing, visualizing, and validating your Coordinate Transform (TF) tree. This tool tries to go beyond simple visualization by providing deep-source auditing and standard compliance checking (REP 105/199).

🚀 Key Features

• Deep Source Auditing: Tracks exactly which nodes are publishing to /tf and /joint_states for every link.
• Live vs. Static Analysis: Automatically distinguishes between truly STATIC latched transforms and LIVE high-frequency streams.
• Diagnostic Profiles: Built-in validation for specific robot types:
• Mobile: Validates the map → odom → base_link chain.

• Arm: Validates articulated chains from base_link to tool0.

• Precision Latency: Reports the “age” of transforms in milliseconds to detect jitter or stale data.
• Disjointed Tree Alerts: Visually flags if your tree is broken into multiple disconnected components.

🛠 Usage

Once built and sourced, you can use the tf-tree command:

Command Flags

Examples

Standard One-Shot Audit:

tf-tree

Save a mobile robot diagnostic to a file:

tf-tree -p mobile -s my_robot.txt

Live monitoring during a mission:

tf-tree --alive

Example outputs

running tf-tree -p mobile

```bash

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[INFO] [1767483009.498731809] [tf_tree_cli_helper]: Mode: REP 105 (Mobile) [INFO] [1767483009.499220178] [tf_tree_cli_helper]: Single-shot mode: Buffering (3s)…

— TF SNAPSHOT: 2026-01-03 23:30:12 — ⚯ Link: base_link [STATIC] ├── ⚯ Link: base_footprint [STATIC] [STATIC] │ ⚙ Joint: to_base_footprint [TF: robot_state_publisher | JointState: joint_state_publisher] ├── ⚯ Link: camera_link [STATIC] [STATIC] │ ⚙ Joint: to_camera_link [TF: robot_state_publisher | JointState: joint_state_publisher] │ └── ⚯ Link: camera_link_optical [STATIC] [STATIC] │ ⚙ Joint: to_camera_link_optical [TF: robot_state_publisher | JointState: joint_state_publisher] ├── ⚯ Link: left_wheel [12.3 Hz] [LIVE: 81.5ms] │ ⚙ Joint: to_left_wheel [TF: robot_state_publisher | JointState: joint_state_publisher] └── ⚯ Link: right_wheel [12.3 Hz] [LIVE: 81.6ms] ⚙ Joint: to_right_wheel [TF: robot_state_publisher | JointState: joint_state_publisher] └── ⚯ Link: test_orphan [STATIC] [STATIC] ⚙ Joint: to_test_orphan [TF: robot_state_publisher | JointState: joint_state_publisher] ✔ /joint_states topic

— COMPLIANCE DIAGNOSTIC — ✖ Recommendation: map ✖ Recommendation: odom

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Changelog for package tf_tree_terminal

Forthcoming

2.0.0 (2026-01-06)

• update humble ubuntu version
• rename CI workflows
• fix typo []
• add distinct workflows
• update badges
• update ros2 ci
• updat ros tooling
• ros2 ci workflow
• Fix description for ROS2 TF Tree CLI Helper
• Add geometry_msgs dependency to package.xml
• add test for tree node
• Strip ANSI codes from content before saving Added ANSI escape code stripping to save_to_file method.
• Add --no-color option to command line arguments
• Add color support for terminal output
• Implement TF rate summary in tree_node.py Added functionality to track and summarize TF rates.
• Add frequency label to light tree node output
• Add --clear option to command line arguments
• Add clear_screen option to TFTreeCLI initialization
• Update TF snapshot formatting and compliance status symbols
• Update symbols for better clarity in output messages
• add helper comment
• update version
• update readme
• add light arg
• Hz, tf and joit_states status, helper with options
• linter changes
• add my name to package.xml
• Contributors: tanneguy, tanneguydv

1.0.1 (2025-12-23 14:36)

• update version
• add Datetime to output txt and ASCII header
• add tf-tree global command
• Contributors: tanneguydv

1.0.0 (2025-12-23 10:12)

• first commit
• Contributors: tanneguydv