ros查看tf树的工具

rosrun tf_echo source_frame target_frame [echo_rate]

source_frame:父节点

target_frame：子节点

This will echo the transform from the coordinate frame of the source_frame
to the coordinate frame of the target_frame.
Note: This is the transform to get data from target_frame into the source_frame.
Default echo rate is 1 if echo_rate is not given.