Commits on May 9, 2022

1. Add an API to clear out cached static transforms. …

   When calling sendTransform() on the StaticTransformBroadcaster
   class, all transforms are cached internally.  Subsequent calls
   to sendTransform() will only add and republish those transforms
   that are different from previously seen ones.  This works well
   for code that wants to "build up" a list of static transforms
   from a diverse set of sources.  (As a side note, there is a
   bug in here where a second static transform between the same
   two joints but with a different translation or rotation is
   silently ignored.  That should probably produce an error.)
   
   However, this caching becomes a problem if a node ever wants
   to remove joints during runtime.  To facilitate this, add a
   new clearTransforms() API that allows the caller to do this.
   This has the potential to remove unrelated transforms, but
   since it is an opt-in API, presumably the user knows what
   they are doing.  The first user of this will be robot_state_publisher,
   which knows it is getting all of its static transforms from
   a single URDF file.
   
   Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

   

   clalancette committed May 9, 2022
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