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map
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├── odom
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│   └── base_link
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│       ├── camera_link
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│       ├── lidar_link
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│       └── arm_link

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// 创建TF2缓冲区
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tf2_ros::Buffer tf_buffer;

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// 创建监听器
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tf2_ros::TransformListener tf_listener(tf_buffer);

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// 创建广播器
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tf2_ros::TransformBroadcaster tf_broadcaster;

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// 创建静态广播器
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tf2_ros::StaticTransformBroadcaster static_tf_broadcaster;

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// 同步查询
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geometry_msgs::msg::TransformStamped transform;
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try {
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    transform = tf_buffer.lookupTransform(
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        "target_frame",    // 目标坐标系
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        "source_frame",    // 源坐标系
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        rclcpp::Time(0)    // 时间戳 (0表示最新)
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    );
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} catch (const tf2::TransformException &ex) {
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    RCLCPP_ERROR(node->get_logger(), "Transform error: %s", ex.what());
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}
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// 异步查询（推荐）
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std::shared_future<geometry_msgs::msg::TransformStamped> future_result =
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    tf_buffer.waitForTransform(
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        "target_frame",
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        "source_frame",
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        rclcpp::Time(0),
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        rclcpp::Duration::from_seconds(1.0)
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    );

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// 变换点
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geometry_msgs::msg::PointStamped point_in, point_out;
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point_in.header.frame_id = "camera_link";
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point_in.point.x = 1.0;  // 1米前方
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tf2::doTransform(point_in, point_out, transform);
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// 变换姿态
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geometry_msgs::msg::PoseStamped pose_in, pose_out;
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tf2::doTransform(pose_in, pose_out, transform);

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// 动态变换
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geometry_msgs::msg::TransformStamped transform_msg;
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transform_msg.header.stamp = node->now();
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transform_msg.header.frame_id = "odom";        // 父坐标系
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transform_msg.child_frame_id = "base_link";    // 子坐标系
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transform_msg.transform.translation.x = x;
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transform_msg.transform.translation.y = y;
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transform_msg.transform.rotation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0,0,1), yaw));
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tf_broadcaster.sendTransform(transform_msg);
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// 静态变换
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static_tf_broadcaster.sendTransform(transform_msg);  // 只发布一次

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class MyNode : public rclcpp::Node {
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private:
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    tf2_ros::Buffer tf_buffer_;
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    tf2_ros::TransformListener tf_listener_;
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public:
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    MyNode() : tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_) {
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        // TF2已准备就绪
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    }
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    void processData() {
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        try {
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            auto transform = tf_buffer_.lookupTransform("map", "base_link", rclcpp::Time(0));
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            // 使用变换...
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        } catch (const tf2::TransformException &ex) {
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            // 处理异常
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        }
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    }
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};

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void publishOdometry(const nav_msgs::msg::Odometry::SharedPtr msg) {
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    // 从里程计消息创建变换
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    geometry_msgs::msg::TransformStamped odom_transform;
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    odom_transform.header = msg->header;
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    odom_transform.child_frame_id = msg->child_frame_id;
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    odom_transform.transform.translation.x = msg->pose.pose.position.x;
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    // ... 设置其他字段
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    tf_broadcaster_.sendTransform(odom_transform);
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}

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// 用于时间同步
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tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan> laser_filter_(
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    tf_buffer_, "odom", 10, node);

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# 查看变换树
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ros2 run tf2_tools view_frames
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# 监听TF话题
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ros2 topic echo /tf
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# 可视化
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ros2 run rviz2 rviz2