# TF2 Transforms Skill

> Expert skill for ROS tf2 coordinate frame management and transforms

- Skill: `a5c-ai/tf2-transforms-skill` (Agent Skill, multi-file: 2 files)
- Install (CLI): `npx skillmds@latest add a5c-ai/tf2-transforms-skill`
- Raw SKILL.md: https://api.skillmd.com/api/skills/a5c-ai/tf2-transforms-skill/raw
- Safety review: pending (external: skill-scanner PASS, skillspector PASS)
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: a5c-ai (https://skillmd.com/u/a5c-ai)
- Updated: 2026-09-09
- Page: https://skillmd.com/skills/a5c-ai/tf2-transforms-skill

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# TF2 Transforms Skill

## Overview

Expert skill for managing ROS tf2 coordinate frames, transform broadcasting, and debugging transform connectivity issues.

## Capabilities

- Configure static transforms for robot links
- Implement dynamic transform broadcasters
- Set up tf2 listeners with time synchronization
- Debug transform chains and connectivity
- Configure transform lookup caching
- Implement transform extrapolation
- Set up multi-robot namespaced transforms
- Configure map-odom-base_link chain
- Implement sensor frame transforms
- Debug TF_REPEATED_DATA and other issues

## Target Processes

- robot-system-design.js
- robot-calibration.js
- sensor-fusion-framework.js
- visual-slam-implementation.js

## Dependencies

- tf2_ros
- tf2_geometry_msgs
- tf_transformations

## Usage Context

This skill is invoked when processes require coordinate frame setup, transform debugging, or multi-robot TF configuration.

## Output Artifacts

- Static transform launch files
- Transform broadcaster nodes
- TF tree configurations
- Debug analysis reports
- Namespaced TF setups
- Time synchronization configs