static_transform_manager

This provides a transformation manager node that broadcasts static transformations at 30Hz, in the same way that static transformations can be created using static_tf_broadcaster. Using this node static transformations can be easier setup and removed than managing a static_tf_broadcasters as sub processes.

Usage

rosrun static_transform_manager static_tf_services.py

will start the manager node. This provides two services:

  • /static_transforms_manager/set_tf
  • /static_transforms_manager/stop_tf

set_tf takes a single argument geometry_msgs/TransformStamped transform, and returns a debug string response and a bool success. The supplied transform is broadcast at 30Hz.

stop_tf takes a single argument string child_frame_id which is the child frame to stop broadcasting.

Example

rosrun static_transform_manager rviz_click_to_tf.py will listen to points clicked in rviz and turn them into a transformation in the TF tree.

Original page: https://github.com/strands-project/strands_apps/blob/indigo-devel/static_transform_manager/README.md