In-Depth Analysis of ROS 2 tf2 Coordinate Transforms: Coordinate Trees, Static Extrinsics, and RViz Misalignment Troubleshooting

For ROS 2 tf2 coordinate transforms, this content analyzes the coordinate tree structure, static extrinsic configuration, and troubleshooting of RViz display misalignment. The original text does not provide a specific robot model, version number, or experimental data; it only explains the use of tf2 and the localization of common issues from a conceptual and debugging perspective.