Debugging tf frame with multiple parents
This is usually a combination of 2 problems
- Multiple nodes to be publishing a transform of a frame (i.e. nodeA publishes
/map -> /odom
and nodeB publishes/map -> /odom
) (EDIT: Turns out this is not an error) - Multiple parent frames are published for the same child frame (something publishes
/map -> /odom
while something else publishes/world -> /odom
)
It seems that the usual methods for debugging tf tree don't help in this situation. Is there any way to help isolate this problem?
In particular, how would one go about finding which is the offending node?