Static Transform Mux
This ROS node subscribes to
/tf_static, collects all the transforms that are ever published there, and re-sends a
message that contains not only the transforms from the last publisher, but all transforms ever encountered.
This is a workaround for e.g. geometry2#181, or for anybody else who needs to have multiple static transform publishers in the system.
/tf_static: The static transforms.
tf2_msgs/TFMessagelatched): Again, the static transforms. Special care is taken so that this node does not react to its own messages.
std_msgs/Boollatched): This message is sent (and latched) once the first message on
/tf_staticis published by this node, so that other nodes that rely on this node's operation know that it has been brought up.
bool, defaults to
False): If set to True, only transforms with newer timestamps can substitute an already cached transform (otherwise, the latest received tranform is used.)
None, defaults to
None): This parameter can contain a prefix of
callerids that will additionally be ignored by the
/tf_staticcallback. Using this parameter is required if you transmit
/tf_staticover some non-ROS connection which changes or discards the
callerid(e.g. when using