tf2_republisher.cpp

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// Consolidate & republish static transforms from a bag file
// Author: Max Schwarz <max.schwarz@ais.uni-bonn.de>
 
#include <ros/ros.h>
 
#include <tf2_msgs/TFMessage.h>
 
#include <tf2_ros/static_transform_broadcaster.h>
 
int main(int argc, char** argv)
{
        ros::init(argc, argv, "tf2_republisher");
 
        ros::NodeHandle nh{"~"};
 
        tf2_ros::StaticTransformBroadcaster pub_tf;
 
        using Msg = tf2_msgs::TFMessage;
        using Event = ros::MessageEvent<Msg>;
 
        ros::Subscriber sub = nh.subscribe<Msg>("/tf_static", 100, boost::function<void(const Event&)>(
                [&](const Event& event)
                {
                        // Did we publish this message?
                        if(event.getPublisherName() == ros::this_node::getName())
                                return;
 
                        pub_tf.sendTransform(event.getMessage()->transforms);
                }
        ));
 
        ros::spin();
 
        return 0;
}