ROS package for rebroadcasting transforms in the TF tree as PoseStamped.
broadcast_pose
- broadcasts the tf as a PoseStampedbroadcast_point
- broadcasts only the origin of the tf as a PointStamped
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
Each node has it's own default launch file, including this in your project is the recommended usage.