ros2/geometry2

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A set of ROS packages for keeping track of coordinate transforms.

Stars: 153
Forks: 256
Open beginner issues: 0
Indexed issues: 68
Avg merge: 3d 23h
Merged PRs (30d): 14

Dominant language: C++
License: BSD-3-Clause
Last GitHub push: Sep 15, 2026
Latest indexed: Sep 19, 2026
Contributing guide: No contributing guide
Code of conduct: No code of conduct
Beginner labels: help wanted

Beginner friendly Everything

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68 open issues indexed

Deadlock between tf2_ros::Buffer::waitForTransform() and tf2::BufferCore::testTransformableRequests() when using MessageFilter Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 48/100

ros2/geometry2#992 · Opened Sep 18, 2026
Transform lookup with per-edge latest fallback Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 35/100

ros2/geometry2#981 · 5 comments · Opened Aug 29, 2026
:farmer: test_message_filter times out consistently in nightly Linux builds Open

bug

Difficulty 3/5 1-2 days Newbie friendliness 48/100

ros2/geometry2#970 · Opened Aug 20, 2026
TransformListener spins only the tf callback group, the default callback group of its internal node is never spun Open

Difficulty 3/5 1-2 days Newbie friendliness 74/100

ros2/geometry2#968 · Opened Aug 13, 2026
tf2_nav_msgs Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 35/100

ros2/geometry2#926 · 2 comments · Opened Apr 17, 2026
lookup/insert race condition in BufferCore Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/geometry2#895 · 2 comments · Opened Feb 17, 2026
🧑‍🌾 `tf2_ros_message_filter.multiple_frames_and_time_tolerance_deprecated` timing out flaky in Rolling/Kilted Connext Open

bug

ros2/geometry2#846 · 4 comments · 1 assignee · Opened Nov 14, 2025
Occasional crash in planner_server due to tf2_ros::CreateTimerROS::remove() Open

bug more-information-needed

Difficulty 4/5 3-5 days Newbie friendliness 25/100

ros2/geometry2#838 · 2 comments · Opened Oct 30, 2025
Publish tf2_py and tf2_ros_py wheels to PyPi Open

enhancement

ros2/geometry2#834 · 1 assignee · Opened Oct 5, 2025
Fix errors in documentation generation. Open

Difficulty 3/5 1-2 days Newbie friendliness 38/100

ros2/geometry2#833 · 3 comments · Opened Oct 1, 2025
Code has race condition risk Open

help wanted

Difficulty 4/5 3-5 days Newbie friendliness 45/100

ros2/geometry2#827 · 1 comment · Opened Sep 3, 2025
Transform between same frames always exist, even when frame ids are empty strings Open

bug

ros2/geometry2#799 · 1 comment · 1 assignee · Opened Jun 19, 2025
No authority available Open

backlog enhancement

ros2/geometry2#798 · 6 comments · 1 assignee · Opened Jun 18, 2025
Numeric error produces unexpected behavior on RPY angles computation Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 30/100

ros2/geometry2#796 · Opened Jun 10, 2025
tf2::fromMsg / tf2::toMsg can compile with undefined symbols Open

backlog bug

Difficulty 3/5 1-2 days Newbie friendliness 38/100

ros2/geometry2#791 · 2 comments · Opened May 23, 2025
Namespace substitution in tf2 frame names Open

enhancement

ros2/geometry2#784 · 1 comment · 1 assignee · Opened Apr 19, 2025
canTransform() with timeout while unloading component node -> freeze or crash Open

bug

ros2/geometry2#777 · 5 comments · 1 assignee · Opened Apr 9, 2025
Introduce managed transform buffer to geometry2 Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros2/geometry2#758 · 7 comments · Opened Feb 6, 2025
Unexpected output of _chainAsVector() Open

more-information-needed

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/geometry2#749 · 10 comments · Opened Jan 10, 2025
spin_thread is not working in rclpy. Open

help wanted

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/geometry2#743 · 3 comments · Opened Dec 17, 2024
Usage of tf2 outside of ROS (evaluation for Basis) Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros2/geometry2#726 · 15 comments · 2 reactions · Opened Nov 11, 2024
[tf_eigen] Usage of MatrixBase in functions to allow block operations Open

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/geometry2#716 · 2 reactions · Opened Oct 16, 2024
tf2_tools.view_frames and tf2_ros.tf2_monitor - allow configurable topics Open

enhancement help wanted

ros2/geometry2#708 · 2 comments · 1 assignee · Opened Sep 11, 2024
[tf2_ros] Static transforms cannot be overwritten Open

Difficulty 4/5 3-5 days Newbie friendliness 20/100

ros2/geometry2#704 · Opened Aug 23, 2024
[Humble] Buffer cannot transform b/c of TypeException Open

ros2/geometry2#701 · 2 comments · 1 assignee · Opened Jul 10, 2024
Create (dynamic) Transform Broadcaster Open

more-information-needed

Difficulty 5/5 Over a week Newbie friendliness 35/100

ros2/geometry2#666 · 2 comments · 1 reaction · Opened Apr 2, 2024
Enable Twist interpolator python bindings Open

ros2/geometry2#643 · 4 comments · 1 assignee · Opened Jan 23, 2024
PyKDL tf2_ros.Stamped broken Open

more-information-needed

ros2/geometry2#624 · 1 comment · 1 assignee · Opened Sep 1, 2023
Puzzle on how to rotate convariance Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros2/geometry2#604 · 1 comment · Opened May 16, 2023
Add a test to ensure #600 does not reoccur Open

ros2/geometry2#603 · 2 comments · 1 assignee · Opened May 9, 2023
Publish dynamic TF with this->get_node_topics_interface() works in foxy but not in humble. Open

Difficulty 4/5 3-5 days Newbie friendliness 32/100

ros2/geometry2#596 · 1 comment · Opened Apr 14, 2023
Implement direct conversions to and from quaternions and Euler angles Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros2/geometry2#577 · Opened Dec 30, 2022
Enable CallbackQueue in tf2_ros::MessageFilter Open

backlog

Difficulty 4/5 3-5 days Newbie friendliness 35/100

ros2/geometry2#568 · 1 comment · Opened Dec 2, 2022
lookupTransform at tf2::TimePointZero returns TransformStamped with wrong stamp Open

ros2/geometry2#565 · 4 comments · 1 assignee · Opened Nov 17, 2022
Compile error while building `tf2_kdl` with `BUILD_TESTING` on - windows 10 Open

more-information-needed

Difficulty 3/5 1-2 days Newbie friendliness 35/100

ros2/geometry2#561 · 5 comments · Opened Nov 8, 2022
Documenting CLI tools? Open

backlog

Difficulty 3/5 1-2 days Newbie friendliness 35/100

ros2/geometry2#550 · 3 comments · Opened Aug 11, 2022
[galactic] ctrl+c with tf2_ros imported causes crash on shutdown Open

ros2/geometry2#546 · 1 assignee · Opened Aug 2, 2022
TransformListener hangs in destructor when using dedicated thread Open

ros2/geometry2#517 · 3 comments · 2 reactions · 1 assignee · Opened Apr 14, 2022
tf2_buffer_server aborts goal without setting error if timeout is set in goal Open

ros2/geometry2#500 · 1 assignee · Opened Jan 20, 2022
Create a callback group to spin on in Python TransformListener Open

backlog enhancement

Difficulty 3/5 1-2 days Newbie friendliness 45/100

ros2/geometry2#477 · 3 comments · Opened Nov 16, 2021
tf2 package documentation and Architecture explanation Open

ros2/geometry2#461 · 2 comments · 1 assignee · Opened Sep 28, 2021
Potential TF2 Buffer Timer Interface / Message Filters Design Issue Open

ros2/geometry2#446 · 1 assignee · Opened Aug 17, 2021
Provide a LookupTransform service Open

backlog help wanted

Difficulty 5/5 Over a week Newbie friendliness 35/100

ros2/geometry2#445 · 5 comments · Opened Aug 12, 2021
rclpy BufferClient lookup_transform not working, timeout Open

ros2/geometry2#438 · 20 comments · 3 reactions · 1 assignee · Opened Jul 7, 2021
Configure buffer cache time at runtime Open

backlog enhancement

Difficulty 5/5 Over a week Newbie friendliness 25/100

ros2/geometry2#421 · 2 comments · Opened May 23, 2021
canTransform does not suppress warning when called with error_msg Open

ros2/geometry2#405 · 2 comments · 1 reaction · 1 assignee · Opened Apr 28, 2021
Getting Message Filter dropping message for reason Unknown on ROS2 and Rviz2 Open

ros2/geometry2#402 · 1 comment · 1 assignee · Opened Apr 26, 2021
static_transform_publisher starts failing after many nodes Open

ros2/geometry2#398 · 1 assignee · Opened Apr 16, 2021
[Foxy] Every call to canTransform implementation throws Warning message print until transform is received Open

ros2/geometry2#396 · 1 assignee · Opened Apr 9, 2021
Message Filter stuck dropping stale messages due to large queue size Open

ros2/geometry2#366 · 5 comments · 1 assignee · Opened Jan 14, 2021

ros2/geometry2

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