Always publish fixed frames to /tf_static #158
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@clalancette @sloretz friendly ping. Looking for a review of this fix. |
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Remove the deprecated 'use_tf_static' parameter. Now fixed transforms will always be published to the topic /tf_static. This change also avoid repeatedly publishing the same transforms. This restores the behavior from ROS 1; now a single "latched" message is published over /tf_static. Signed-off-by: Jacob Perron <[email protected]>
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OK, so I rebased this, made a few inline code changes, and updated the README to explain more about the /tf vs. /tf_static topics in here. I think this looks good now, so I'm going to approve. That said, I did enough changes in here that I'd appreciate a re-review by @jacobperron , and a quick conceptual review by @sloretz .
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CI:
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Signed-off-by: Chris Lalancette <[email protected]>
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I'm going to go ahead and merge this, and also add a note to the Humble release notes. |
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@clalancette Can I create a backport PR for this to |
No, I'm sorry. This is too big of a behavior change to introduce into a stable distribution. That said, if you want to prevent robot_state_publisher from publishing on a timer, feel free to submit a PR to Galactic to do that. Just make sure that the current behavior is maintained by default. |
Remove the deprecated 'use_tf_static' parameter. Now fixed transforms
will always be published to the topic /tf_static.
This change also avoid repeatedly publishing the same transforms.
This restores the behavior from ROS 1; now a single "latched" message
is published over /tf_static.
Fixes #157