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Updating tf republisher #206

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merged 5 commits into from Nov 5, 2021
Merged

Updating tf republisher #206

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74ff259
adding republish tf new place
mikramarc Oct 27, 2021
38e5971
lint
mikramarc Oct 27, 2021
54d177e
removing debug code
mikramarc Oct 27, 2021
faed1d0
adding option to tf republisher
mikramarc Nov 5, 2021
ba1f361
Merge branch 'noetic-devel' of github.com:shadow-robot/common_resourc…
mikramarc Nov 5, 2021
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5 changes: 3 additions & 2 deletions sr_utilities_common/launch/real_time_tf_republisher.launch
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@@ -1,10 +1,11 @@
<launch>
<arg name="rosbag_path" default=""/>
<arg name="remapped_tf_topic_name" default="tf_bag" />
<arg name="tf_topic_name" default="/tf"/>
<arg name="remapped_tf_topic_name" default="tf_bag"/>
<arg name="tf_name_regexes" default="[]"/>
<arg name="tcp_nodelay" default="true"/>

<node unless="$(eval arg('rosbag_path') == '')" pkg="rosbag" type="play" name="rosbag_mocap_tf" args="$(arg rosbag_path) --topics /tf tf:=$(arg remapped_tf_topic_name) -l" output="screen" />
<node unless="$(eval arg('rosbag_path') == '')" pkg="rosbag" type="play" name="rosbag_mocap_tf" args="$(arg rosbag_path) --topics $(arg tf_topic_name) $(arg tf_topic_name):=$(arg remapped_tf_topic_name) -l" output="screen" />
<node pkg="sr_utilities_common" type="real_time_tf_republisher.py" name="real_time_tf_republisher" output="screen">
<param name="bag_tf_topic_name" value="$(arg remapped_tf_topic_name)" />
<param name="tcp_nodelay" value="$(arg tcp_nodelay)" />
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