{
  "id": "ros2/tf2-buffer-core-missing-transform-timeout",
  "signature": "tf2.BufferCore::lookupTransform: Can't find transform from frame_a to frame_b, error: 'frame_b' passed to lookupTransform argument target_frame does not exist",
  "signature_zh": "tf2.BufferCore::lookupTransform: 找不到从frame_a到frame_b的变换，错误：传递给lookupTransform参数target_frame的'frame_b'不存在",
  "regex": "tf2.*lookupTransform.*target_frame.*does not exist|Can't find transform from \\w+ to \\w+",
  "domain": "ros2",
  "category": "runtime_error",
  "subcategory": null,
  "root_cause": "The target frame 'frame_b' has not been published to the tf2 tree, typically because the corresponding transform broadcaster node (e.g., robot_state_publisher or static_transform_publisher) is not running, not publishing, or the frame name is misspelled.",
  "root_cause_type": "generic",
  "root_cause_zh": "目标坐标系'frame_b'尚未发布到tf2树中，通常是因为对应的变换广播节点（如robot_state_publisher或static_transform_publisher）未运行、未发布，或坐标系名称拼写错误。",
  "versions": [
    {
      "version": "Humble",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "Iron",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "Galactic",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    }
  ],
  "os_specific": {},
  "dead_ends": [
    {
      "action": "",
      "why_fails": "use_sim_time only synchronizes clock, not transforms. The simulation must explicitly publish transforms via robot_state_publisher or similar nodes.",
      "fail_rate": 0.8,
      "condition": "",
      "sources": []
    },
    {
      "action": "",
      "why_fails": "Buffer size only affects how long transforms are stored, not whether they are published. If the frame is never broadcast, no buffer size will help.",
      "fail_rate": 0.95,
      "condition": "",
      "sources": []
    }
  ],
  "workarounds": [
    {
      "action": "Verify all frames are published: run 'ros2 run tf2_tools view_frames' or 'ros2 tf2_echo frame_a frame_b'. Check the output for missing frames. If frame_b is missing, add a static transform publisher: ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 frame_a frame_b",
      "success_rate": 0.9,
      "how": "Verify all frames are published: run 'ros2 run tf2_tools view_frames' or 'ros2 tf2_echo frame_a frame_b'. Check the output for missing frames. If frame_b is missing, add a static transform publisher: ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 frame_a frame_b",
      "condition": "",
      "sources": []
    },
    {
      "action": "Ensure robot_state_publisher or your custom broadcaster node is running and publishing transforms. Check with 'ros2 topic echo /tf_static' and 'ros2 topic echo /tf'. If no messages, verify the node's URDF or configuration.",
      "success_rate": 0.85,
      "how": "Ensure robot_state_publisher or your custom broadcaster node is running and publishing transforms. Check with 'ros2 topic echo /tf_static' and 'ros2 topic echo /tf'. If no messages, verify the node's URDF or configuration.",
      "condition": "",
      "sources": []
    },
    {
      "action": "Add a timeout and retry loop in your code: try: transform = tf_buffer.lookup_transform('frame_a', 'frame_b', rclpy.time.Time(), timeout=rclpy.duration.Duration(seconds=1.0)) except tf2.LookupException: # handle missing transform",
      "success_rate": 0.8,
      "how": "Add a timeout and retry loop in your code: try: transform = tf_buffer.lookup_transform('frame_a', 'frame_b', rclpy.time.Time(), timeout=rclpy.duration.Duration(seconds=1.0)) except tf2.LookupException: # handle missing transform",
      "condition": "",
      "sources": []
    }
  ],
  "workarounds_zh": [
    "Verify all frames are published: run 'ros2 run tf2_tools view_frames' or 'ros2 tf2_echo frame_a frame_b'. Check the output for missing frames. If frame_b is missing, add a static transform publisher: ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 frame_a frame_b",
    "Ensure robot_state_publisher or your custom broadcaster node is running and publishing transforms. Check with 'ros2 topic echo /tf_static' and 'ros2 topic echo /tf'. If no messages, verify the node's URDF or configuration.",
    "Add a timeout and retry loop in your code: try: transform = tf_buffer.lookup_transform('frame_a', 'frame_b', rclpy.time.Time(), timeout=rclpy.duration.Duration(seconds=1.0)) except tf2.LookupException: # handle missing transform"
  ],
  "transition_graph": {
    "leads_to": [],
    "preceded_by": [],
    "frequently_confused_with": []
  },
  "official_doc_url": "https://docs.ros.org/en/rolling/Tutorials/Intermediate/Tf2/Introduction-To-Tf2.html",
  "official_doc_section": null,
  "error_code": null,
  "verification_tier": "ai_generated",
  "confidence": 0.9,
  "fix_success_rate": 0.92,
  "resolvable": "true",
  "first_seen": "2023-03-10",
  "last_confirmed": "2024-06-01",
  "last_updated": "2024-06-01",
  "evidence_count": 1,
  "tags": [],
  "locale": "en",
  "aliases": []
}