# TF2 Transforms Skill

Expert skill for ROS tf2 coordinate frame management and transforms.

## Purpose

Provides expert capabilities for managing coordinate frames in ROS using tf2, including transform broadcasting, listening, and debugging.

## Key Features

- Static transform configuration
- Dynamic transform broadcasting
- Transform chain debugging
- Multi-robot TF namespacing
- Time synchronization
- Frame connectivity analysis

## When to Use

- Setting up robot coordinate frames
- Debugging TF connectivity issues
- Configuring multi-robot transforms
- Implementing sensor frame transforms
- Troubleshooting timing issues
