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, or for anybody else who needs to have multiple static transform publishers in the system.

Node static\_transform\_mux

Subscribed topics

• /tf_static: The static transforms.

Published topics

• topic defined in param ~publisher_topic (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).
• ~publisher_topic (str, defaults to /tf_static): Which topic to publish to. This can be the same topic as the input.

Changelog for package static_transform_mux

1.1.2 (2024-04-04)

• Fixed Python 3 compatibility
• Contributors: Martin Pecka

1.1.1 (2023-05-13)

• Noetic compatibility.
• Added possibility to publish to a different topic.
• Contributors: Martin Pecka

1.1.0 (2019-03-05)

• Changed the cache key to allow restructuring the TF tree.
• Contributors: Martin Pecka

1.0.1 (2018-09-06)

• Fixed initialization order so that the subscriber is the last and does not trigger the callback before constructor finishes.
• Removed dependency on tf package.
• Create LICENSE.txt
• Contributors: Martin Pecka

1.0.0 (2018-08-30)

• Initial commit.
• Contributors: Martin Pecka