TF remapper (more efficient and versatile C++ version)

This package is an alternative to official ROS node tf/tf_remap with the following advantages:

Nodes

tf_remapper_cpp/tf_remap

The node that performs the TF remapping.

Private parameters

Subscribed topics

Published topics

Example usage in launch files

simple.launch

<launch>
    <group>
        <remap from="tf" to="tf_old" />

        <node name="broadcaster_ab" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 a b 10"/>

    </group>

    <node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
        <rosparam param="mappings">[{old: b, new: c}]</rosparam>
    </node>


    <node name="my_node" pkg="my_pkg" type="node_type" />
</launch>

static_tf.launch

<launch>
    <group>
        <remap from="tf_static" to="tf_static_old" />

        <node name="broadcaster_ab" pkg="tf2_ros" type="static_transform_publisher" args="1 2 3 4 5 6 a b"/>

    </group>

    <node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
        <rosparam param="mappings">[{old: b, new: c}]</rosparam>

    </node>


    <node name="my_node" pkg="my_pkg" type="node_type" />
</launch>

bidirectional.launch

<launch>
    <group>
        <remap from="tf" to="tf_old" />

        <node name="broadcaster_ab" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 a b 10"/>



        <node name="my_node2" pkg="my_pkg" type="node_type" />
    </group>

    <node name="remapper" pkg="tf_remapper_cpp" type="tf_remap">
        <rosparam param="mappings">[{old: b, new: c}, {old: e, new: f}]</rosparam>
        <param name="is_bidirectional" value="true" />
    </node>


    <node name="my_node" pkg="my_pkg" type="node_type" />

    <node name="broadcaster_df" pkg="tf" type="static_transform_publisher" args="1 2 3 4 5 6 d f 10"/>
</launch>


tf_remapper_cpp
Author(s): Martin Pecka
autogenerated on Thu Jun 6 2019 20:00:31