ROS2 CI

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

░▀█▀░█▀▀░░░░░▀█▀░█▀▄░█▀▀░█▀▀
░░█░░█▀▀░▄▄▄░░█░░█▀▄░█▀▀░█▀▀
░░▀░░▀░░░░░░░░▀░░▀░▀░▀▀▀░▀▀▀
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
✔ Recommendation: base_link

and light mode, running tf-tree -l

--- TF SNAPSHOT: 2026-01-03 23:38:17 ---
base_link
├── base_footprint
├── camera_link
│   └── camera_link_optical
├── left_wheel
└── right_wheel
    └── test_orphan

or broken, running tf-tree -l :

--- TF SNAPSHOT: 2026-01-03 23:41:04 ---
⚠ ALERT: 2 DISJOINTED TREES!
└─ Roots: right_wheel, base_link

right_wheel
└── test_orphan
base_link
├── base_footprint
└── camera_link
    └── camera_link_optical

---

📊 Understanding the Output

• ⚯ Link: The TF frame name with its frequency (Hz).
• [LIVE: 15ms]: Data is current.
• [STALE: 2.1s]: The broadcaster has likely stopped or crashed.
• ⚙ Joint: Lists the publisher nodes for both the transform and the joint state.
• ✔ Recommendation: Compliance status based on the selected profile.

---

🔧 Installation

1. Clone to your workspace:

cd ~/ros2_ws/src
git clone https://github.com/Tanneguydv/tf_tree_terminal.git

2. Build:

cd ~/ros2_ws
colcon build --packages-select tf_tree_terminal
source install/setup.bash

---

💡 How it works

The debugger utilizes a MultiThreadedExecutor to simultaneously listen to the TF buffer while calculating statistics. It performs a Depth-First Search (DFS) to reconstruct the tree from the YAML data provided by the ROS 2 buffer, enriching each node with metadata gathered from the graph introspection API.