tf_pose_rebroadcaster

ROS package for rebroadcasting transforms in the TF tree as PoseStamped.

Nodes

• broadcast_pose - broadcasts the tf as a PoseStamped
• broadcast_point - broadcasts only the origin of the tf as a PointStamped

Parameters

Both nodes need the following parameters:

• ~tf_parent - the parent frame of the transform to look up
• ~tf_child - the frame to look up
• ~output_topic - the topic to publish the pose or point on

Launch files

Each node has it's own default launch file, including this in your project is the recommended usage.