I have tried the code from https://github.com/bponsler/urg_node/tree/ros2-devel. it could work but has issue. since I did not find the place to submit a issue on https://github.com/bponsler/urg_node. so I write here. Error: :"urg_node" passed to lookupTransform argument target_frame does not exist. Reproduce: root@robot1:~# urg_node Connected to serial device with ID: H1626063 Streaming data. root@robot1:~# ros2 run tf2_ros tf2_echo urg_node urg_node Failure at 1501769676.54089 Exception thrown:"urg_node" passed to lookupTransform argument target_frame does not exist. The current list of frames is: Failure at 1501769677.44048 Exception thrown:"urg_node" passed to lookupTransform argument target_frame does not exist. The current list of frames is: --- [Visit Topic](https://discourse.ros.org/t/is-there-a-urg-node-package-in-ros2/2223/4) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: