Create (dynamic) Transform Broadcaster
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- Dominant language
- C++
- Stars
- 153
- Forks
- 256
- Avg merge
- 3d 23h
- Merged PRs (30d)
- 14
Description
Feature request
Feature description
Similarly to static_transform_publisher, it would be useful to have a transform_publisher that publishes to /tf on a timer (configurable rate). One use case of this would be to publish map -> odom artificially (e.g. if a global localizer is missing).
I've seen the static_transform_publisher being used for this but for me it hasn't worked out for reasons I don't know yet, but regardless, map -> odom should theoretically be on /tf as it's not static
Implementation considerations
Contributor guide
No contributing guide indexed for this repository
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reading the existing static_transform_publisher entry point and its handling of transform publication. Determine how a corresponding publisher could expose a configurable timer and publish to /tf; done means a dynamic transform publisher supports the stated map-to-odom use case without being treated as static.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100