ros2-perception-pipeline

Use when adding or debugging a perception node (camera, LiDAR, depth) in ROS 2 — verify the TF frame tree and time sync first, then wire sensor topics through PCL/Open3D processing to a documented out

SKILL.md

GitHub

When to use. Any perception change. Why: a wrong sensor→base_link transform or bad time sync makes everything downstream silently wrong — this is the #1 perception bug, so check it before logic.

Procedure.

  1. Inspect the TF tree (ros2 run tf2_tools view_frames); confirm every sensor frame is connected and correct.
  2. Confirm timestamps/use_sim_time alignment across fused topics.
  3. Process (PCL/Open3D) and publish results in a named, documented frame.
  4. Done when: TF tree verified (paste it), output visualized in RViz in the right frame, latency measured.

Knowledge: KNOWLEDGE-LIBRARY.md §B1.

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