{
  "id": "ros2/tf2-buffer-core-timeout",
  "signature": "tf2.BufferCore::lookupTransform: Can't find transform from 'map' to 'base_link', error: 'base_link' passed to lookupTransform argument target_frame does not exist",
  "signature_zh": "tf2.BufferCore::lookupTransform: 找不到从 'map' 到 'base_link' 的变换，错误：传递给 lookupTransform 参数 target_frame 的 'base_link' 不存在",
  "regex": "tf2\\.BufferCore::lookupTransform: Can't find transform from '([^']+)' to '([^']+)', error: '([^']+)' passed to lookupTransform argument target_frame does not exist",
  "domain": "ros2",
  "category": "runtime_error",
  "subcategory": null,
  "root_cause": "The TF buffer does not contain the requested transform because the source frame ('base_link') has never been published, or the transform publisher (e.g., robot_state_publisher) is not running or publishing the correct frames.",
  "root_cause_type": "generic",
  "root_cause_zh": "TF 缓冲区不包含请求的变换，因为源帧 ('base_link') 从未被发布，或者变换发布者（例如 robot_state_publisher）未运行或未发布正确的帧。",
  "versions": [
    {
      "version": "ROS2 Foxy Fitzroy",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "ROS2 Humble Hawksbill",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "ROS2 Iron Irwini",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    }
  ],
  "os_specific": {},
  "dead_ends": [
    {
      "action": "",
      "why_fails": "Adding a static transform publisher with wrong frame names (e.g., 'odom' instead of 'map') may silence the error but produce incorrect transforms, leading to navigation or visualization issues.",
      "fail_rate": 0.7,
      "condition": "",
      "sources": []
    },
    {
      "action": "",
      "why_fails": "Increasing the TF buffer size in the node parameters doesn't help because the transform was never published; the buffer is empty for that frame.",
      "fail_rate": 0.8,
      "condition": "",
      "sources": []
    }
  ],
  "workarounds": [
    {
      "action": "Verify that the robot_state_publisher is running and publishing the correct transforms. Run `ros2 run tf2_ros tf2_echo map base_link` to check if the transform exists. If not, ensure the URDF/SDF file defines the 'base_link' frame and that robot_state_publisher is launched.",
      "success_rate": 0.95,
      "how": "Verify that the robot_state_publisher is running and publishing the correct transforms. Run `ros2 run tf2_ros tf2_echo map base_link` to check if the transform exists. If not, ensure the URDF/SDF file defines the 'base_link' frame and that robot_state_publisher is launched.",
      "condition": "",
      "sources": []
    },
    {
      "action": "If the frame is published by a custom node, add a delay before calling `lookupTransform` to allow the TF tree to populate. Use `tf2_ros::Buffer::canTransform` with a timeout.",
      "success_rate": 0.9,
      "how": "If the frame is published by a custom node, add a delay before calling `lookupTransform` to allow the TF tree to populate. Use `tf2_ros::Buffer::canTransform` with a timeout.",
      "condition": "",
      "sources": []
    }
  ],
  "workarounds_zh": [
    "Verify that the robot_state_publisher is running and publishing the correct transforms. Run `ros2 run tf2_ros tf2_echo map base_link` to check if the transform exists. If not, ensure the URDF/SDF file defines the 'base_link' frame and that robot_state_publisher is launched.",
    "If the frame is published by a custom node, add a delay before calling `lookupTransform` to allow the TF tree to populate. Use `tf2_ros::Buffer::canTransform` with a timeout."
  ],
  "transition_graph": {
    "leads_to": [],
    "preceded_by": [],
    "frequently_confused_with": []
  },
  "official_doc_url": "https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Tf2-Main.html",
  "official_doc_section": null,
  "error_code": "TF-3001",
  "verification_tier": "ai_generated",
  "confidence": 0.88,
  "fix_success_rate": 0.92,
  "resolvable": "true",
  "first_seen": "2023-07-22",
  "last_confirmed": "2024-06-01",
  "last_updated": "2024-06-01",
  "evidence_count": 1,
  "tags": [],
  "locale": "en",
  "aliases": []
}