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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 (More than one static_transform_publisher doesn't work via rosbag), or for anybody else who needs to have multiple static transform publishers in the system.



Subscribed topics

Published topics


2024-07-13 14:38