{
  "id": "ros2/tf2-buffer-core-transform-timeout",
  "signature": "tf2.BufferCore::lookupTransform: Can't find transform from 'base_link' to 'map', error: 'map' passed to lookupTransform argument target_frame does not exist",
  "signature_zh": "tf2.BufferCore::lookupTransform：找不到从 'base_link' 到 'map' 的变换，错误：'map' 作为 lookupTransform 参数 target_frame 传递，但不存在",
  "regex": "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 tf2 buffer does not have the requested transform due to a missing broadcaster, wrong frame name, or the transform not being published yet (e.g., robot_state_publisher not running or static_transform_publisher misconfigured).",
  "root_cause_type": "generic",
  "root_cause_zh": "tf2 缓冲区没有请求的变换，原因是缺少广播器、帧名称错误或变换尚未发布（例如 robot_state_publisher 未运行或 static_transform_publisher 配置错误）。",
  "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": "Jazzy",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    },
    {
      "version": "Rolling",
      "introduced": null,
      "deprecated": null,
      "removed": null,
      "behavior_change": null,
      "status": "active"
    }
  ],
  "os_specific": {},
  "dead_ends": [
    {
      "action": "Set the lookup timeout to a very high value (e.g., 10 seconds)",
      "why_fails": "Timeout doesn't create the missing transform; it only delays the error.",
      "fail_rate": 0.95,
      "condition": "",
      "sources": []
    },
    {
      "action": "Change the target_frame to 'odom' in all lookup calls",
      "why_fails": "This may work temporarily but breaks applications that need the 'map' frame for global planning.",
      "fail_rate": 0.8,
      "condition": "",
      "sources": []
    },
    {
      "action": "Hardcode the transform as a static transform in the code",
      "why_fails": "Static transforms don't update with robot movement; the robot will get stuck or collide.",
      "fail_rate": 0.9,
      "condition": "",
      "sources": []
    }
  ],
  "workarounds": [
    {
      "action": "Ensure the static_transform_publisher for the 'map' to 'odom' frame is running in the launch file: <node pkg=\"tf2_ros\" exec=\"static_transform_publisher\" args=\"0 0 0 0 0 0 map odom\"/>",
      "success_rate": 0.9,
      "how": "Ensure the static_transform_publisher for the 'map' to 'odom' frame is running in the launch file: <node pkg=\"tf2_ros\" exec=\"static_transform_publisher\" args=\"0 0 0 0 0 0 map odom\"/>",
      "condition": "",
      "sources": []
    },
    {
      "action": "Check the frame names in the URDF and ensure robot_state_publisher publishes the correct transforms: ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:=\"$(xacro my_robot.urdf.xacro)\"",
      "success_rate": 0.85,
      "how": "Check the frame names in the URDF and ensure robot_state_publisher publishes the correct transforms: ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:=\"$(xacro my_robot.urdf.xacro)\"",
      "condition": "",
      "sources": []
    },
    {
      "action": "Add a transform listener with a retry loop and a timeout of 2 seconds, logging the available frames for debugging: try: transform = tf_buffer.lookup_transform('map', 'base_link', rclpy.time.Time(), timeout=rclpy.duration.Duration(seconds=2.0)); except tf2.LookupException: self.get_logger().info('Available frames: ' + str(tf_buffer.all_frames_as_string()))",
      "success_rate": 0.8,
      "how": "Add a transform listener with a retry loop and a timeout of 2 seconds, logging the available frames for debugging: try: transform = tf_buffer.lookup_transform('map', 'base_link', rclpy.time.Time(), timeout=rclpy.duration.Duration(seconds=2.0)); except tf2.LookupException: self.get_logger().info('Available frames: ' + str(tf_buffer.all_frames_as_string()))",
      "condition": "",
      "sources": []
    }
  ],
  "workarounds_zh": [
    "Ensure the static_transform_publisher for the 'map' to 'odom' frame is running in the launch file: <node pkg=\"tf2_ros\" exec=\"static_transform_publisher\" args=\"0 0 0 0 0 0 map odom\"/>",
    "Check the frame names in the URDF and ensure robot_state_publisher publishes the correct transforms: ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:=\"$(xacro my_robot.urdf.xacro)\"",
    "Add a transform listener with a retry loop and a timeout of 2 seconds, logging the available frames for debugging: try: transform = tf_buffer.lookup_transform('map', 'base_link', rclpy.time.Time(), timeout=rclpy.duration.Duration(seconds=2.0)); except tf2.LookupException: self.get_logger().info('Available frames: ' + str(tf_buffer.all_frames_as_string()))"
  ],
  "transition_graph": {
    "leads_to": [],
    "preceded_by": [],
    "frequently_confused_with": []
  },
  "official_doc_url": "https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2.html",
  "official_doc_section": null,
  "error_code": "TF2_LOOKUP_001",
  "verification_tier": "ai_generated",
  "confidence": 0.87,
  "fix_success_rate": 0.9,
  "resolvable": "true",
  "first_seen": "2023-11-01",
  "last_confirmed": "2024-06-01",
  "last_updated": "2024-06-01",
  "evidence_count": 1,
  "tags": [],
  "locale": "en",
  "aliases": []
}