我现在把FAST-LIO-SAM-SC-QN从ros1 修改为ros2 。程序能跑起来了，但是tf树不对。
启动雷达和IMU等程序后，单独启动fast_lio程序，tf如下：
Now I have migrated FAST-LIO-SAM-SC-QN from ROS1 to ROS2. The program can run, but the TF tree is incorrect. After launching the LiDAR and IMU programs, when I start the fast_lio program separately, the TF looks as follows:
然后再启动fast_lio_sam_sc_qn_node 节点，tf 树如下：
Then launch the fast_lio_sam_sc_qn_node node, the TF tree is as follows:
请问这是什么问题。
FAST-LIO-SAM-SC-QN 中的"robot" 应该修改为什么？
This appears to be a question about coordinate frame naming in the FAST-LIO-SAM-SC-QN ROS2 migration project. The issue relates to TF (Transform) frame naming conventions that need to be adjusted for proper robot coordinate system definition.
The "robot" frame should typically be changed to one of the following standard ROS2 robot coordinate frames:
1.
base_link - The primary robot base frame
2.
lidar - lidar frame name
3.
chassis - Robot chassis frame
4.
body - Robot body frame
期待你的回复。 hope your reply.
我现在把FAST-LIO-SAM-SC-QN从ros1 修改为ros2 。程序能跑起来了，但是tf树不对。
启动雷达和IMU等程序后，单独启动fast_lio程序，tf如下：
Now I have migrated FAST-LIO-SAM-SC-QN from ROS1 to ROS2. The program can run, but the TF tree is incorrect. After launching the LiDAR and IMU programs, when I start the fast_lio program separately, the TF looks as follows:
然后再启动fast_lio_sam_sc_qn_node 节点，tf 树如下：
Then launch the fast_lio_sam_sc_qn_node node, the TF tree is as follows:
请问这是什么问题。
FAST-LIO-SAM-SC-QN 中的"robot" 应该修改为什么？
This appears to be a question about coordinate frame naming in the FAST-LIO-SAM-SC-QN ROS2 migration project. The issue relates to TF (Transform) frame naming conventions that need to be adjusted for proper robot coordinate system definition.
The "robot" frame should typically be changed to one of the following standard ROS2 robot coordinate frames:
1.
base_link - The primary robot base frame
2.
lidar - lidar frame name
3.
chassis - Robot chassis frame
4.
body - Robot body frame
期待你的回复。 hope your reply.