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).