Overview

Provides a ROS node interface for tf::TransformListener and tf::TransformBroadcaster.

This package exposes the methods of tf::TransformListener and tf::TransformBroadcaster as a set of ROS services. This functionality may be useful for accessing transforms from ROS nodes written in programming languages other than C++ or Python. Service call overhead may render this package unsuitable for heavy users of transforms, however. Node also supports additional functionality, such as setting up and cancelling static transforms (which are published at some specified frequency), and setting up standing transforms of messages from a source to target topic.