Republish pose on tf

This packages contains a single node that subscribes to a pose topic.

It will simply republish the pose as a transform on /tf. If the parent frame is not defined then world will be used.

It can be used to simulate perfect localization (on /tf) from a ground truth topic published by a simulator.

Supported messages are:

• geometry_msgs/Pose
• geometry_msgs/PoseStamped
• geometry_msgs/Transform
• geometry_msgs/TransformStamped
• nav_msgs/Odometry
• sensor_msgs/Imu (assumes null translation)

Parameters

• topic: topic to subscribe to (defaults to pose_gt)
• child_frame: child frame to be used in tf publisher (defaults to base_link)
• parent_frame: parent frame to be used in tf publisher (defaults to world)

The frame parameters are only to complement messages that do not include the information:

• Pose and Transform do not convey any frame, so both parameters are used;
• PoseStamped and Imu only convey child_frame in the header, the parent_frame parameter is thus used;
• TransformStamped and Odometry convey both child_frame explicitely and parent_frame in the header.