# Tf\_static does not be sent by network **URL:** \ **Category:** Ask\ **Created:** [May 15, 2024, 1:04pm UTC](https://forum.hello-robot.com/t/tf-static-does-not-be-sent-by-network/980 "2024-05-15T13:04:17Z")\ **Posts on this page:** 10\ **Page:** 1
**Author:** ![Yongbo](https://avatars.discourse-cdn.com/v4/letter/y/c0e974/32.png) [@Yongbo](https://forum.hello-robot.com/u/Yongbo)\ **Post date:** [May 15, 2024, 1:04pm UTC](https://forum.hello-robot.com/t/tf-static-does-not-be-sent-by-network/980/1 "2024-05-15T13:04:17Z")
Hello. I am using Stretch Robot SE3. I am using a pc to communicate with the robot by the standard ROS2 `ROS_DOMAIN_ID`. They are using the router offered by your company. Most topics work well. I can get them in my pc. But I find the tf\_static can not be received by my pc. Do you know how to deal with this case? You know tf\_static is important for many nodes. Thanks. ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [May 15, 2024, 1:28pm UTC](https://forum.hello-robot.com/t/tf-static-does-not-be-sent-by-network/980/2 "2024-05-15T13:28:44Z")
Hi @Yongbo, just to confirm, both the robot and your PC are connected to Netgear router? By default, the domain ID shouldn’t be set. ---
**Author:** ![Yongbo](https://avatars.discourse-cdn.com/v4/letter/y/c0e974/32.png) [@Yongbo](https://forum.hello-robot.com/u/Yongbo)\ **Post date:** [May 15, 2024, 2:43pm UTC](https://forum.hello-robot.com/t/tf-static-does-not-be-sent-by-network/980/3 "2024-05-15T14:43:52Z")
Yes. I add ROS\_DOMAIN\_ID=0 before each launched command. ---
**Author:** ![Yongbo](https://avatars.discourse-cdn.com/v4/letter/y/c0e974/32.png) [@Yongbo](https://forum.hello-robot.com/u/Yongbo)\ **Post date:** [May 16, 2024, 1:09am UTC](https://forum.hello-robot.com/t/tf-static-does-not-be-sent-by-network/980/4 "2024-05-16T01:09:37Z")
I publish tf\_static again using robot\_state\_publisher in my pc. The problem seems to be solved. But this communication problem still be weird to me. ---
**Author:** ![Mohamed\_Fazil](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/mohamed_fazil/32/261_2.png) [@Mohamed\_Fazil](https://forum.hello-robot.com/u/Mohamed_Fazil)\ **Post date:** [May 16, 2024, 2:03am UTC](https://forum.hello-robot.com/t/tf-static-does-not-be-sent-by-network/980/5 "2024-05-16T02:03:49Z")
Hi @Yongbo, Thanks for reporting this issue. To get more context, what QoS profile were you using to publish the /tf\_static? I was going through the [documentation](http://wiki.ros.org/tf2/Migration#Addition_of_.2BAC8-tf_static_topic), and it seems like the publisher and subscriber need to work with [Durablity Transient Local](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Quality-of-Service-Settings.html#qos-profiles) QoS policy. Could you try this out and see if the communication issue still exists? ---
**Author:** ![Yongbo](https://avatars.discourse-cdn.com/v4/letter/y/c0e974/32.png) [@Yongbo](https://forum.hello-robot.com/u/Yongbo)\ **Post date:** [May 16, 2024, 2:58am UTC](https://forum.hello-robot.com/t/tf-static-does-not-be-sent-by-network/980/6 "2024-05-16T02:58:38Z")
Thanks. This may be the problem. I am now busy with a submission. After submission, I will try it out later. ---
**Author:** ![Yongbo](https://avatars.discourse-cdn.com/v4/letter/y/c0e974/32.png) [@Yongbo](https://forum.hello-robot.com/u/Yongbo)\ **Post date:** [May 28, 2024, 2:51am UTC](https://forum.hello-robot.com/t/tf-static-does-not-be-sent-by-network/980/7 "2024-05-28T02:51:53Z")
I find that the map topic published using “ros2 launch stretch\_nav2 navigation.launch ![image](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/d782899ad864e704feb2c212efac7728cca89264.jpeg) .py” also cannot be shared using network with multiple machines. The following image is the info result for map topic including QoS. Could you help me to find how to deal with this case? I am not very familiar with ros2. Thanks. ---
**Author:** ![Yongbo](https://avatars.discourse-cdn.com/v4/letter/y/c0e974/32.png) [@Yongbo](https://forum.hello-robot.com/u/Yongbo)\ **Post date:** [May 29, 2024, 3:56am UTC](https://forum.hello-robot.com/t/tf-static-does-not-be-sent-by-network/980/8 "2024-05-29T03:56:30Z")
> [@Mohamed\_Fazil](#): > > QoS policy The robot\_description topic also shows the same question. ---
**Author:** ![elvin](https://avatars.discourse-cdn.com/v4/letter/e/858c86/32.png) [@elvin](https://forum.hello-robot.com/u/elvin)\ **Post date:** [May 31, 2024, 8:07pm UTC](https://forum.hello-robot.com/t/tf-static-does-not-be-sent-by-network/980/9 "2024-05-31T20:07:40Z")
We encountered a similar issue when using ROS 2 where messages could not be received by computers connected to the same WiFi network as Stretch (oddly, computers connected via ethernet could receive messages perfectly fine). This issue was resolved for us by making sure all computers are using the same DDS implementation as Stretch. You can check the DDS implementation using `ros2 doctor -r | grep middleware` and set it in `~/.bashrc` using `export RMW_IMPLEMENTATION=...` ---
**Author:** ![Yongbo](https://avatars.discourse-cdn.com/v4/letter/y/c0e974/32.png) [@Yongbo](https://forum.hello-robot.com/u/Yongbo)\ **Post date:** [June 1, 2024, 1:53pm UTC](https://forum.hello-robot.com/t/tf-static-does-not-be-sent-by-network/980/10 "2024-06-01T13:53:30Z")
Thank you for your help. I will have a try later.