This ROS package provides some tools to facilitate definition of ROS tf transforms.
It provides two binaries:
static_transform_publisher is an adapted version of
tf2_ros's source code, providing more fine-grained command-line options to define orientations from an arbitrary set of Euler angles.
static_transform_publisher_gui is an interactive version of the
static_transform_publisherallowing you to modify the transform interactively.
Furthermore it provides some extensions to rviz:
- An EulerProperty class allowing for definition of arbitrary sets of Euler angles (and conversion between them).
- A RotationProperty class combining
QuaternionPropertyto provide flexible means of entering orientation information.
- An interactive transform publisher as an
rviz::Displayplugin allowing you to interactively explore your desired transform with an rviz marker. You can use this also, to interactively perform frame transformations.