# Zed-wrapper, TF clarification

**URL:** <https://community.stereolabs.com/t/zed-wrapper-tf-clarification/11756>\
**Category:** ROS2\
**Created:** [September 28, 2026, 12:39pm UTC](https://community.stereolabs.com/t/zed-wrapper-tf-clarification/11756 "2026-09-28T12:39:33Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![specapoorv](https://community.stereolabs.com/user_avatar/community.stereolabs.com/specapoorv/32/6512_2.png) [@specapoorv](https://community.stereolabs.com/u/specapoorv)\
**Post date:** [September 28, 2026, 12:39pm UTC](https://community.stereolabs.com/t/zed-wrapper-tf-clarification/11756/1 "2026-09-28T12:39:33Z")

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how do I make zed wrapper to not start with odom → zed  
we want this simple transform odom → base\_link → zed

how can we do this by not disabling TFs and then having a separate node to fetch odom data and transform?

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**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\
**Post date:** [September 30, 2026, 3:36pm UTC](https://community.stereolabs.com/t/zed-wrapper-tf-clarification/11756/2 "2026-09-30T15:36:28Z")

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Hi @specapoorv  
Welcome to the [StereoLabs](https://www.stereolabs.com/) community.

I recommend you read the ZED ROS2 Wrapper documentation:

> **[Getting Started with ROS 2 and ZED | StereoLabs](https://docs.stereolabs.com/docs/integrations/ros-2)**
>
> The ZED ROS 2 wrapper lets you use the ZED stereo and monocular cameras with the second version of ROS, the Robot Operating System, a set of software libraries…

With a specific focus on this section:

> **[ZED Integration on a Robot | StereoLabs](https://docs.stereolabs.com/docs/integrations/ros-2/robot-integration)**
>
> This tutorial explains how to use the xacro tool to add the ZED camera to the URDF of a robot.