TF separated in Isaac Sim ROS 2

Omniverse Isaac Sim
, ,
1

Isaac Sim Version

5.0.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: NVIDIA RTX 3500 Ada Generation
  • Driver Version: 580.95.05

Topic Description

TF trees are separated in RViz2 and inside Isaac Sim (using the TF extension), even though frames are connected, and I’ve separated static frames on /tf_static and dynamic frames on /tf.

Detailed Description

What we’re aiming for

A standard mobile robot TF chain:

  • world → map (static)
  • map → odom (static or SLAM‑owned)
  • odom → base_footprint (dynamic from odometry)
  • base_footprint → base_link (static, slight offset)
  • downstream frames from base_link to wheels, sensors, arm joints (dynamic)

What the code currently does

  • Fixed base – locobot_base_footprintto/Worldvia aFixedJoint(to prevent drift). We also publishworld→mapandmap→odomas identity transforms on/tf_static, and publish odom→base_footprintas an identity transform via aROS2PublishRawTransformTree`. This means the robot’s chassis is effectively fixed: there is no dynamic odom→base_footprint transform.
  • Dynamic chain – TF frames from locobot_base_link to wheels, casters, sensors, the camera tower, and the arm chain are published each tick via ROS2PublishTransformTree nodes. Those downstream transforms rely on the articulation state of the robot (wheels turning, pan/tilt joints, arm joints).
  • Joint state publishing – A unified joint‑state graph publishes joint states and accepts commands via /locobot/joint_states and /locobot/joint_states_cmd. There is only one TF publisher for each link chain.

Observations

  1. Frames drift relative to base – Even with the base fixed, the locobot_base_link, locobot_camera_tower_link, and locobot_arm_base_link frames visibly snap or creep over time. In some cases their axes jump far away (kilometres) in RViz2.
  2. No duplicate odom→base_footprint – We deliberately disabled the dynamic odom→base_footprint broadcast; instead it’s a static identity. So this drift is not coming from two competing broadcasters for the base.

Screenshots or Videos

tf_tree
tf_tree6800×4242 1.77 MB

Additional Information

What I’ve Tried

  • Verified that there is exactly one TF publisher for each transform: no duplicate odom→base_footprint.
  • Ensured that all true static transforms (world→map, map→odom, odom→base_footprint) are on /tf_static with Transient Local durability.
  • Confirmed the chassis is pinned via a FixedJoint to /World.
  • Verified that no SLAM or external node is publishing map→odom or odom→base_footprint.
  • Tried wiring the TF publishers in different orders; no change.
  • Checked joint‑state QoS settings and confirmed there is only one joint‑state publisher.

Code


#!/usr/bin/env python3

import time
import logging
import omni.graph.core as og
import carb
from typing import Dict, Optional

# Configure logging
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger("ROS2ClockTF_USD")

class ROS2ClockTF_USD:
    """Manages ROS2 bridge functionality in Isaac Sim."""

    def __init__(self, domain_id: int = 0):
        """Initialize the ROS2 bridge handler.
        
        Args:
            domain_id (int): ROS_DOMAIN_ID for communication (default: 0)
        """
        self._domain_id = domain_id
        self._graph_paths: Dict[str, str] = {}
        self._initialized = False

        try:
            # Allow time for extensions to fully load
            time.sleep(1.0)
            self._initialized = True
            logger.info("ROS2 bridge handler initialized successfully")
        except Exception as e:
            logger.error(f"Failed to initialize ROS2 bridge handler: {str(e)}")
            raise

    def setup_clock(self) -> bool:
        """Setup the ROS2 clock publisher.
        
        Returns:
            bool: True if setup successful
        """
        try:
            graph_path = "/World/ROSClock"
            keys = og.Controller.Keys
            
            (graph, _, _, _) = og.Controller.edit(
                {"graph_path": graph_path, "evaluator_name": "execution"},
                {
                    keys.CREATE_NODES: [
                        ("Context", "isaacsim.ros2.bridge.ROS2Context"),
                        ("OnTick", "omni.graph.action.OnPlaybackTick"),
                        ("ReadSimTime", "isaacsim.core.nodes.IsaacReadSimulationTime"),
                        ("PublishClock", "isaacsim.ros2.bridge.ROS2PublishClock")
                    ],
                    keys.CONNECT: [
                        ("OnTick.outputs:tick", "PublishClock.inputs:execIn"),
                        ("ReadSimTime.outputs:simulationTime", "PublishClock.inputs:timeStamp"),
                        ("Context.outputs:context", "PublishClock.inputs:context")
                    ],
                    keys.SET_VALUES: [
                        ("Context.inputs:domain_id", self._domain_id)
                    ]
                }
            )
            
            self._graph_paths["clock"] = graph_path
            logger.info("Successfully setup ROS2 clock")
            return True
            
        except Exception as e:
            logger.error(f"Failed to setup ROS2 clock: {str(e)}")
            return False

    def setup_joint_state_publisher(self, robot_prim_path: str = "/World/locobot") -> bool:
        """DEPRECATED: Joint state system is now handled by unified system in locobot_components_loading.py
        
        This method is kept for backward compatibility but does nothing.
        """
        logger.info("Joint state publisher setup skipped - using unified system from locobot_components_loading.py")
        return True

    def setup_transform_tree(self, robot_prim_path: str = "/World/locobot") -> bool:
        try:
            # Joint state system is now handled by the unified system in locobot_components_loading.py
            logger.info("Joint state system handled separately by unified system")
                
            # Define graph path
            graph_path = f"{robot_prim_path}/tfTrees"
            keys = og.Controller.Keys

            publish_map_frames = True

            create_nodes = [
                ("OnTick", "omni.graph.action.OnPlaybackTick"),
                ("ReadSimTime", "isaacsim.core.nodes.IsaacReadSimulationTime"),
                ("Context", "isaacsim.ros2.bridge.ROS2Context"),
                ("PublishOdom", "isaacsim.ros2.bridge.ROS2PublishOdometry"),
                ("ComputeOdom", "isaacsim.core.nodes.IsaacComputeOdometry"),
                ("PublishOdomToFootprintTF", "isaacsim.ros2.bridge.ROS2PublishRawTransformTree"),
                ("PublishFootprintToBaseTF", "isaacsim.ros2.bridge.ROS2PublishRawTransformTree"),
                ("PublishBaseToWheelsTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishBaseToCastersTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishBaseToSensorsTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishBaseToPlateTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishPlateToBatteryTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishBaseToTowerTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishPlateToArmBaseTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishArmBaseToShoulderTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishShoulderToUpperArmTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishUpperArmToUpperForearmTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishUpperForearmToLowerForearmTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishLowerForearmToWristTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishWristToGripperTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishGripperToEEArmTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishEEArmToGripperPropTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishEEArmToGripperBarTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishGripperBarToFingersTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishFingersToLeftFingerTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishFingersToRightFingerTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishFingersToEEGripperTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishEEArmToARTagTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishTowerToPanTF", "isaacsim.ros2.bridge.ROS2PublishRawTransformTree"),
                ("PublishPanToTiltTF", "isaacsim.ros2.bridge.ROS2PublishRawTransformTree"),
                ("PublishTiltToCameraTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishCameraToDepthTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishTowerToLidarTowerTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishLidarTowerToLaserTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
                ("PublishBaseToIMULinkTF", "isaacsim.ros2.bridge.ROS2PublishTransformTree"),
            ]

            if publish_map_frames:
                create_nodes.extend([
                    ("PublishWorldToMapTF", "isaacsim.ros2.bridge.ROS2PublishRawTransformTree"),
                    ("PublishMapToOdomTF", "isaacsim.ros2.bridge.ROS2PublishRawTransformTree"),
                ])

            connections = [
                ("OnTick.outputs:tick", "ComputeOdom.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishOdomToFootprintTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishFootprintToBaseTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishBaseToWheelsTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishBaseToCastersTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishBaseToSensorsTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishBaseToPlateTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishPlateToBatteryTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishBaseToTowerTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishPlateToArmBaseTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishArmBaseToShoulderTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishShoulderToUpperArmTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishUpperArmToUpperForearmTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishUpperForearmToLowerForearmTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishLowerForearmToWristTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishWristToGripperTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishGripperToEEArmTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishEEArmToGripperPropTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishEEArmToGripperBarTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishGripperBarToFingersTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishFingersToLeftFingerTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishFingersToRightFingerTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishFingersToEEGripperTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishEEArmToARTagTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishTowerToPanTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishPanToTiltTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishTiltToCameraTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishCameraToDepthTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishTowerToLidarTowerTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishLidarTowerToLaserTF.inputs:execIn"),
                ("OnTick.outputs:tick", "PublishBaseToIMULinkTF.inputs:execIn"),
                ("ReadSimTime.outputs:simulationTime", "PublishOdom.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishOdomToFootprintTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishFootprintToBaseTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishBaseToWheelsTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishBaseToCastersTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishBaseToSensorsTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishBaseToPlateTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishPlateToBatteryTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishBaseToTowerTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishPlateToArmBaseTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishArmBaseToShoulderTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishShoulderToUpperArmTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishUpperArmToUpperForearmTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishUpperForearmToLowerForearmTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishLowerForearmToWristTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishWristToGripperTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishGripperToEEArmTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishEEArmToGripperPropTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishEEArmToGripperBarTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishGripperBarToFingersTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishFingersToLeftFingerTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishFingersToRightFingerTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishFingersToEEGripperTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishEEArmToARTagTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishTowerToPanTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishPanToTiltTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishTiltToCameraTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishCameraToDepthTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishTowerToLidarTowerTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishLidarTowerToLaserTF.inputs:timeStamp"),
                ("ReadSimTime.outputs:simulationTime", "PublishBaseToIMULinkTF.inputs:timeStamp"),
                ("Context.outputs:context", "PublishOdom.inputs:context"),
                ("Context.outputs:context", "PublishOdomToFootprintTF.inputs:context"),
                ("Context.outputs:context", "PublishFootprintToBaseTF.inputs:context"),
                ("ComputeOdom.outputs:execOut", "PublishOdom.inputs:execIn"),
                ("ComputeOdom.outputs:angularVelocity", "PublishOdom.inputs:angularVelocity"),
                ("ComputeOdom.outputs:linearVelocity", "PublishOdom.inputs:linearVelocity"),
                ("ComputeOdom.outputs:position", "PublishOdom.inputs:position"),
                ("ComputeOdom.outputs:orientation", "PublishOdom.inputs:orientation"),
                ("ComputeOdom.outputs:position", "PublishOdomToFootprintTF.inputs:translation"),
                ("ComputeOdom.outputs:orientation", "PublishOdomToFootprintTF.inputs:rotation"),
                ("Context.outputs:context", "PublishBaseToWheelsTF.inputs:context"),
                ("Context.outputs:context", "PublishBaseToCastersTF.inputs:context"),
                ("Context.outputs:context", "PublishBaseToSensorsTF.inputs:context"),
                ("Context.outputs:context", "PublishBaseToPlateTF.inputs:context"),
                ("Context.outputs:context", "PublishPlateToBatteryTF.inputs:context"),
                ("Context.outputs:context", "PublishBaseToTowerTF.inputs:context"),
                ("Context.outputs:context", "PublishPlateToArmBaseTF.inputs:context"),
                ("Context.outputs:context", "PublishArmBaseToShoulderTF.inputs:context"),
                ("Context.outputs:context", "PublishShoulderToUpperArmTF.inputs:context"),
                ("Context.outputs:context", "PublishUpperArmToUpperForearmTF.inputs:context"),
                ("Context.outputs:context", "PublishUpperForearmToLowerForearmTF.inputs:context"),
                ("Context.outputs:context", "PublishLowerForearmToWristTF.inputs:context"),
                ("Context.outputs:context", "PublishWristToGripperTF.inputs:context"),
                ("Context.outputs:context", "PublishGripperToEEArmTF.inputs:context"),
                ("Context.outputs:context", "PublishEEArmToGripperPropTF.inputs:context"),
                ("Context.outputs:context", "PublishEEArmToGripperBarTF.inputs:context"),
                ("Context.outputs:context", "PublishGripperBarToFingersTF.inputs:context"),
                ("Context.outputs:context", "PublishFingersToLeftFingerTF.inputs:context"),
                ("Context.outputs:context", "PublishFingersToRightFingerTF.inputs:context"),
                ("Context.outputs:context", "PublishFingersToEEGripperTF.inputs:context"),
                ("Context.outputs:context", "PublishEEArmToARTagTF.inputs:context"),
                ("Context.outputs:context", "PublishTowerToPanTF.inputs:context"),
                ("Context.outputs:context", "PublishPanToTiltTF.inputs:context"),
                ("Context.outputs:context", "PublishTiltToCameraTF.inputs:context"),
                ("Context.outputs:context", "PublishCameraToDepthTF.inputs:context"),
                ("Context.outputs:context", "PublishTowerToLidarTowerTF.inputs:context"),
                ("Context.outputs:context", "PublishLidarTowerToLaserTF.inputs:context"),
                ("Context.outputs:context", "PublishBaseToIMULinkTF.inputs:context"),
            ]

            if publish_map_frames:
                connections.extend([
                    ("OnTick.outputs:tick", "PublishWorldToMapTF.inputs:execIn"),
                    ("OnTick.outputs:tick", "PublishMapToOdomTF.inputs:execIn"),
                    ("ReadSimTime.outputs:simulationTime", "PublishWorldToMapTF.inputs:timeStamp"),
                    ("ReadSimTime.outputs:simulationTime", "PublishMapToOdomTF.inputs:timeStamp"),
                    ("Context.outputs:context", "PublishWorldToMapTF.inputs:context"),
                    ("Context.outputs:context", "PublishMapToOdomTF.inputs:context"),
                ])

            set_values = [
                ("Context.inputs:domain_id", self._domain_id),
                ("ComputeOdom.inputs:chassisPrim", f"{robot_prim_path}/locobot_base_footprint/locobot_base_link"),
                ("PublishOdom.inputs:topicName", "odom"),
                ("PublishOdom.inputs:odomFrameId", "odom"),
                ("PublishOdom.inputs:chassisFrameId", "locobot_base_footprint"),
                ("PublishOdomToFootprintTF.inputs:topicName", "tf"),
                ("PublishOdomToFootprintTF.inputs:parentFrameId", "odom"),
                ("PublishOdomToFootprintTF.inputs:childFrameId", "locobot_base_footprint"),
                ("PublishFootprintToBaseTF.inputs:topicName", "tf"),
                ("PublishFootprintToBaseTF.inputs:parentFrameId", "locobot_base_footprint"),
                ("PublishFootprintToBaseTF.inputs:childFrameId", "locobot_base_link"),
                ("PublishFootprintToBaseTF.inputs:translation", [0.0, 0.0, 0.0]),
                ("PublishFootprintToBaseTF.inputs:rotation", [0.0, 0.0, 0.0, 1.0]),

                        # base_link -> wheels (ACTUAL Isaac Sim structure - wheels at robot root)
                        ("PublishBaseToWheelsTF.inputs:topicName", "tf"),
                        ("PublishBaseToWheelsTF.inputs:parentPrim", f"{robot_prim_path}/locobot_base_footprint/locobot_base_link"),
                        ("PublishBaseToWheelsTF.inputs:targetPrims", [
                            f"{robot_prim_path}/locobot_wheel_left_link",
                            f"{robot_prim_path}/locobot_wheel_right_link",
                        ]),

                        # base_link -> casters
                        ("PublishBaseToCastersTF.inputs:topicName", "tf"),
                        ("PublishBaseToCastersTF.inputs:parentPrim", f"{robot_prim_path}/locobot_base_footprint/locobot_base_link"),
                        ("PublishBaseToCastersTF.inputs:targetPrims", [
                            f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_caster_front_link",
                            f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_caster_back_link",
                        ]),

                        # base_link -> sensors
                        ("PublishBaseToSensorsTF.inputs:topicName", "tf"),
                        ("PublishBaseToSensorsTF.inputs:parentPrim", f"{robot_prim_path}/locobot_base_footprint/locobot_base_link"),
                        ("PublishBaseToSensorsTF.inputs:targetPrims", [
                            f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_gyro_link",
                            f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_cliff_sensor_left_link",
                            f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_cliff_sensor_right_link",
                            f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_cliff_sensor_front_link",
                        ]),

                        # base_link -> plate
                        ("PublishBaseToPlateTF.inputs:topicName", "tf"),
                        ("PublishBaseToPlateTF.inputs:parentPrim", f"{robot_prim_path}/locobot_base_footprint/locobot_base_link"),
                        ("PublishBaseToPlateTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_plate_link"]),

                        # plate -> battery
                        ("PublishPlateToBatteryTF.inputs:topicName", "tf"),
                        ("PublishPlateToBatteryTF.inputs:parentPrim", f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_plate_link"),
                        ("PublishPlateToBatteryTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_plate_link/locobot_battery_link"]),

                        # base_link -> camera_tower
                        ("PublishBaseToTowerTF.inputs:topicName", "tf"),
                        ("PublishBaseToTowerTF.inputs:parentPrim", f"{robot_prim_path}/locobot_base_footprint/locobot_base_link"),
                        ("PublishBaseToTowerTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_camera_tower_link"]),

                        # plate -> arm_base
                        ("PublishPlateToArmBaseTF.inputs:topicName", "tf"),
                        ("PublishPlateToArmBaseTF.inputs:parentPrim", f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_plate_link"),
                        ("PublishPlateToArmBaseTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_plate_link/locobot_arm_base_link"]),
                        
                        # Arm kinematic chain (ACTUAL Isaac Sim structure - all at robot root)
                        # arm_base -> shoulder
                        ("PublishArmBaseToShoulderTF.inputs:topicName", "tf"),
                        ("PublishArmBaseToShoulderTF.inputs:parentPrim", f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_plate_link/locobot_arm_base_link"),
                        ("PublishArmBaseToShoulderTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_shoulder_link"]),

                        # shoulder -> upper_arm
                        ("PublishShoulderToUpperArmTF.inputs:topicName", "tf"),
                        ("PublishShoulderToUpperArmTF.inputs:parentPrim", f"{robot_prim_path}/locobot_shoulder_link"),
                        ("PublishShoulderToUpperArmTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_upper_arm_link"]),

                        # upper_arm -> upper_forearm
                        ("PublishUpperArmToUpperForearmTF.inputs:topicName", "tf"),
                        ("PublishUpperArmToUpperForearmTF.inputs:parentPrim", f"{robot_prim_path}/locobot_upper_arm_link"),
                        ("PublishUpperArmToUpperForearmTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_upper_forearm_link"]),

                        # upper_forearm -> lower_forearm
                        ("PublishUpperForearmToLowerForearmTF.inputs:topicName", "tf"),
                        ("PublishUpperForearmToLowerForearmTF.inputs:parentPrim", f"{robot_prim_path}/locobot_upper_forearm_link"),
                        ("PublishUpperForearmToLowerForearmTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_lower_forearm_link"]),

                        # lower_forearm -> wrist
                        ("PublishLowerForearmToWristTF.inputs:topicName", "tf"),
                        ("PublishLowerForearmToWristTF.inputs:parentPrim", f"{robot_prim_path}/locobot_lower_forearm_link"),
                        ("PublishLowerForearmToWristTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_wrist_link"]),

                        # wrist -> gripper
                        ("PublishWristToGripperTF.inputs:topicName", "tf"),
                        ("PublishWristToGripperTF.inputs:parentPrim", f"{robot_prim_path}/locobot_wrist_link"),
                        ("PublishWristToGripperTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_gripper_link"]),
                        
                        # gripper -> ee_arm (ACTUAL: gripper at root, ee_arm nested under it)
                        ("PublishGripperToEEArmTF.inputs:topicName", "tf"),
                        ("PublishGripperToEEArmTF.inputs:parentPrim", f"{robot_prim_path}/locobot_gripper_link"),
                        ("PublishGripperToEEArmTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_gripper_link/locobot_ee_arm_link"]),

                        # ee_arm -> gripper_prop (ACTUAL: gripper_prop at root level)
                        ("PublishEEArmToGripperPropTF.inputs:topicName", "tf"),
                        ("PublishEEArmToGripperPropTF.inputs:parentPrim", f"{robot_prim_path}/locobot_gripper_link/locobot_ee_arm_link"),
                        ("PublishEEArmToGripperPropTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_gripper_prop_link"]),

                        # ee_arm -> gripper_bar (ACTUAL: nested under gripper/ee_arm)
                        ("PublishEEArmToGripperBarTF.inputs:topicName", "tf"),
                        ("PublishEEArmToGripperBarTF.inputs:parentPrim", f"{robot_prim_path}/locobot_gripper_link/locobot_ee_arm_link"),
                        ("PublishEEArmToGripperBarTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_gripper_link/locobot_ee_arm_link/locobot_gripper_bar_link"]),

                        # gripper_bar -> fingers (ACTUAL: nested)
                        ("PublishGripperBarToFingersTF.inputs:topicName", "tf"),
                        ("PublishGripperBarToFingersTF.inputs:parentPrim", f"{robot_prim_path}/locobot_gripper_link/locobot_ee_arm_link/locobot_gripper_bar_link"),
                        ("PublishGripperBarToFingersTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_gripper_link/locobot_ee_arm_link/locobot_gripper_bar_link/locobot_fingers_link"]),

                        # fingers -> left_finger (ACTUAL: left/right at root level)
                        ("PublishFingersToLeftFingerTF.inputs:topicName", "tf"),
                        ("PublishFingersToLeftFingerTF.inputs:parentPrim", f"{robot_prim_path}/locobot_gripper_link/locobot_ee_arm_link/locobot_gripper_bar_link/locobot_fingers_link"),
                        ("PublishFingersToLeftFingerTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_left_finger_link"]),

                        # fingers -> right_finger (ACTUAL: at root level)
                        ("PublishFingersToRightFingerTF.inputs:topicName", "tf"),
                        ("PublishFingersToRightFingerTF.inputs:parentPrim", f"{robot_prim_path}/locobot_gripper_link/locobot_ee_arm_link/locobot_gripper_bar_link/locobot_fingers_link"),
                        ("PublishFingersToRightFingerTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_right_finger_link"]),

                        # fingers -> ee_gripper (ACTUAL: nested under fingers)
                        ("PublishFingersToEEGripperTF.inputs:topicName", "tf"),
                        ("PublishFingersToEEGripperTF.inputs:parentPrim", f"{robot_prim_path}/locobot_gripper_link/locobot_ee_arm_link/locobot_gripper_bar_link/locobot_fingers_link"),
                        ("PublishFingersToEEGripperTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_gripper_link/locobot_ee_arm_link/locobot_gripper_bar_link/locobot_fingers_link/locobot_ee_gripper_link"]),

                        # ee_arm -> ar_tag (ACTUAL: nested under ee_arm)
                        ("PublishEEArmToARTagTF.inputs:topicName", "tf"),
                        ("PublishEEArmToARTagTF.inputs:parentPrim", f"{robot_prim_path}/locobot_gripper_link/locobot_ee_arm_link"),
                        ("PublishEEArmToARTagTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_gripper_link/locobot_ee_arm_link/locobot_ar_tag_link"]),

                        # Camera tower chain (ACTUAL: pan/tilt at root, camera nested under tilt)
                        # camera_tower -> pan (FIXED: pan at root level, use explicit transform from URDF)
                        ("PublishTowerToPanTF.inputs:topicName", "tf"),
                        ("PublishTowerToPanTF.inputs:parentFrameId", "locobot_camera_tower_link"),
                        ("PublishTowerToPanTF.inputs:childFrameId", "locobot_pan_link"),
                        ("PublishTowerToPanTF.inputs:translation", [0.047228, 0.0, 0.44425]),
                        ("PublishTowerToPanTF.inputs:rotation", [0.0, 0.0, 0.0, 1.0]),

                        # pan -> tilt (FIXED: tilt at root level, use explicit transform from URDF)
                        ("PublishPanToTiltTF.inputs:topicName", "tf"),
                        ("PublishPanToTiltTF.inputs:parentFrameId", "locobot_pan_link"),
                        ("PublishPanToTiltTF.inputs:childFrameId", "locobot_tilt_link"),
                        ("PublishPanToTiltTF.inputs:translation", [0.025034, 0.0, 0.019]),
                        ("PublishPanToTiltTF.inputs:rotation", [0.0, 0.0, 0.0, 1.0]),

                        # tilt -> camera (ACTUAL: camera nested under tilt at root)
                        ("PublishTiltToCameraTF.inputs:topicName", "tf"),
                        ("PublishTiltToCameraTF.inputs:parentPrim", f"{robot_prim_path}/locobot_tilt_link"),
                        ("PublishTiltToCameraTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_tilt_link/camera_locobot_link"]),

                        # camera -> depth (ACTUAL: depth nested under camera)
                        ("PublishCameraToDepthTF.inputs:topicName", "tf"),
                        ("PublishCameraToDepthTF.inputs:parentPrim", f"{robot_prim_path}/locobot_tilt_link/camera_locobot_link"),
                        ("PublishCameraToDepthTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_tilt_link/camera_locobot_link/locobot_camera_depth_link"]),

                        # Lidar chain
                        # camera_tower -> lidar_tower
                        ("PublishTowerToLidarTowerTF.inputs:topicName", "tf"),
                        ("PublishTowerToLidarTowerTF.inputs:parentPrim", f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_camera_tower_link"),
                        ("PublishTowerToLidarTowerTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_camera_tower_link/locobot_lidar_tower_link"]),

                        # lidar_tower -> laser_frame
                        ("PublishLidarTowerToLaserTF.inputs:topicName", "tf"),
                        ("PublishLidarTowerToLaserTF.inputs:parentPrim", f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_camera_tower_link/locobot_lidar_tower_link"),
                        ("PublishLidarTowerToLaserTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_camera_tower_link/locobot_lidar_tower_link/locobot_laser_frame_link"]),

                # base_link -> imu_link
                ("PublishBaseToIMULinkTF.inputs:topicName", "tf"),
                ("PublishBaseToIMULinkTF.inputs:parentPrim", f"{robot_prim_path}/locobot_base_footprint/locobot_base_link"),
                ("PublishBaseToIMULinkTF.inputs:targetPrims", [f"{robot_prim_path}/locobot_base_footprint/locobot_base_link/locobot_imu_link"]),
            ]

            if publish_map_frames:
                set_values.extend([
                    ("PublishWorldToMapTF.inputs:topicName", "tf_static"),
                    ("PublishWorldToMapTF.inputs:parentFrameId", "world"),
                    ("PublishWorldToMapTF.inputs:childFrameId", "map"),
                    ("PublishWorldToMapTF.inputs:staticPublisher", True),
                    ("PublishWorldToMapTF.inputs:translation", [0.0, 0.0, 0.0]),
                    ("PublishWorldToMapTF.inputs:rotation", [0.0, 0.0, 0.0, 1.0]),
                    ("PublishMapToOdomTF.inputs:topicName", "tf_static"),
                    ("PublishMapToOdomTF.inputs:parentFrameId", "map"),
                    ("PublishMapToOdomTF.inputs:childFrameId", "odom"),
                    ("PublishMapToOdomTF.inputs:translation", [0.0, 0.0, 0.0]),
                    ("PublishMapToOdomTF.inputs:rotation", [0.0, 0.0, 0.0, 1.0]),
                    ("PublishMapToOdomTF.inputs:staticPublisher", True),
                ])

            (graph, _, _, _) = og.Controller.edit(
                {"graph_path": graph_path, "evaluator_name": "execution"},
                {
                    keys.CREATE_NODES: create_nodes,
                    keys.CONNECT: connections,
                    keys.SET_VALUES: set_values,
                }
            )

            self._graph_paths["tf_tree"] = graph_path
            logger.info("Successfully setup TF tree publishing")
            return True
            
        except Exception as e:
            logger.error(f"Failed to setup TF tree: {str(e)}")
            return False

    def cleanup(self) -> None:
        """Clean up all created graphs."""
        try:
            for graph_name, graph_path in self._graph_paths.items():
                og.Controller.edit({"graph_path": graph_path}, {"_DELETE": []})
                logger.info(f"Deleted graph: {graph_name} at {graph_path}")
        except Exception as e:
            logger.error(f"Failed to clean up graphs: {str(e)}")
3

Hi @psykaunot Maybe I am missing some information. Why do you set odom→base_footprint as static? Is your robot not supposed to move in the simulation?

4

Hi @zhengwang ! The odom to base footprint is dynamic. I made a mistake while writing the issue. If you look at the code, you’ll see that I set it to /tf and not /tf_static

5

Could you please share your files and detailed steps for us to replicate the issue?

6

Hello!

We noticed that this topic hasn’t received any recent responses, so we are closing it for now to help keep the forum organized.

If you’re still experiencing this issue or have additional questions, please feel free to create a new topic with updated details. When doing so, we recommend mentioning or linking to this original topic in your new post—this helps provide context and makes it easier for others to assist you.

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The NVIDIA Isaac Sim Forum Team