This provides a transformation manager node that broadcasts static transformations at 30Hz, in the same way that static transformations can be created using static_tf_broadcaster. Using this node static transformations can be easier setup and removed than managing a static_tf_broadcasters as sub processes.
rosrun static_transform_manager static_tf_services.py
will start the manager node. This provides two services:
- /static_transforms_manager/set_tf
- /static_transforms_manager/stop_tf
set_tf
takes a single argument geometry_msgs/TransformStamped transform
,
and returns a debug string response
and a bool success
. The supplied transform is broadcast at 30Hz.
stop_tf
takes a single argument string child_frame_id
which is the child frame to stop broadcasting.
rosrun static_transform_manager rviz_click_to_tf.py
will listen to points clicked in rviz and turn them into a transformation in the TF tree.