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Package Summary
A helper node that makes sure everybody knows about all static transforms, even if they are published by multiple publishers.
- Maintainer status: developed
- Maintainer: Martin Pecka <peckama2 AT fel.cvut DOT cz>
- Author: Martin Pecka <peckama2 AT fel.cvut DOT cz>
- License: BSD
- Source: git https://github.com/tradr-project/static_transform_mux.git (branch: master)
Package Summary
A helper node that makes sure everybody knows about all static transforms, even if they are published by multiple publishers.
- Maintainer status: developed
- Maintainer: Martin Pecka <peckama2 AT fel.cvut DOT cz>
- Author: Martin Pecka <peckama2 AT fel.cvut DOT cz>
- License: BSD
- Source: git https://github.com/tradr-project/static_transform_mux.git (branch: master)
Package Summary
A helper node that makes sure everybody knows about all static transforms, even if they are published by multiple publishers.
- Maintainer status: developed
- Maintainer: Martin Pecka <peckama2 AT fel.cvut DOT cz>
- Author: Martin Pecka <peckama2 AT fel.cvut DOT cz>
- License: BSD
- Source: git https://github.com/tradr-project/static_transform_mux.git (branch: master)
Package Summary
A helper node that makes sure everybody knows about all static transforms, even if they are published by multiple publishers.
- Maintainer status: developed
- Maintainer: Martin Pecka <peckama2 AT fel.cvut DOT cz>
- Author: Martin Pecka <peckama2 AT fel.cvut DOT cz>
- License: BSD
- Source: git https://github.com/tradr-project/static_transform_mux.git (branch: master)
Package Summary
A helper node that makes sure everybody knows about all static transforms, even if they are published by multiple publishers.
- Maintainer status: maintained
- Maintainer: Martin Pecka <peckama2 AT fel.cvut DOT cz>
- Author: Martin Pecka <peckama2 AT fel.cvut DOT cz>
- License: BSD
- Source: git https://github.com/tradr-project/static_transform_mux.git (branch: master)
Contents
Static Transform Mux
This ROS node subscribes to /tf_static, collects all the transforms that are ever published there, and re-sends a message that contains not only the transforms from the last publisher, but all transforms ever encountered.
This is a workaround for e.g. geometry2#181 (More than one static_transform_publisher doesn't work via rosbag), or for anybody else who needs to have multiple static transform publishers in the system.
Nodes
static_transform_mux
Subscribed topics
/tf_static: The static transforms.
Published topics
/tf_static (tf2_msgs/TFMessage latched): Again, the static transforms. Special care is taken so that this node does not react to its own messages.
ready (std_msgs/Bool latched): This message is sent (and latched) once the first message on /tf_static is published by this node, so that other nodes that rely on this node's operation know that it has been brought up.
Parameters
~update_only_with_newer (bool, defaults to False): If set to True, only transforms with newer timestamps can substitute an already cached transform (otherwise, the latest received tranform is used.)
~forbidden_callerid_prefix (str or None, defaults to None): This parameter can contain a prefix of callerids that will additionally be ignored by the /tf_static callback. Using this parameter is required if you transmit /tf_static over some non-ROS connection which changes or discards the callerid (e.g. when using nimbro_network).
