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tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
kilted

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
rolling

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

tf_tree_terminal repository

tf_tree_terminal

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Tanneguydv/tf_tree_terminal.git
VCS Type git
VCS Version master
Last Updated 2026-01-06
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
tf_tree_terminal 2.0.0

README

ROS2 CI

Humble Status Jazzy Status Rolling Status

TF-Tree CLI Debugger

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
      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

Flag Short Description
--profile -p Diagnostic mode: mobile, arm, or auto (default).
--save -s Export the analysis to a file (e.g., -s robot_report.txt).
--alive -a Keep node alive; refreshes terminal every 5 seconds.
--light -l Get a light TF-Tree as output
--clear -c Clear terminal screen before each refresh in alive mode
--no-color -nc Disable ANSI colors in output
--help -h Show help message and exit.

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀ ░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀ ░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀ TF-TREE CLI DEBUGGER

[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

File truncated at 100 lines see the full file

CONTRIBUTING