This ROS package provides some tools facilitating the definition of (static) ROS tf transforms.

First of all, it provides some extensions to rviz:

• An EulerProperty class allowing for the definition of arbitrary sets of Euler angles (and conversion between them).
• A RotationProperty class combining EulerProperty and QuaternionProperty to provide flexible means of entering orientation information.
• An interactive transform publisher as an rviz::Display plugin allowing you to define your transforms with an rviz interactive marker. You can use this also, to interactively perform frame transformations.

Furthermore, it provides two cmdline utilities:

• static_transform_publisher is an adapted version of tf2_ros’s source code, providing more fine-grained command-line options to define orientations from an arbitrary set of Euler angles.

• static_transform_publisher_gui is an interactive version of the static_transform_publisher allowing you to modify the transform interactively.

Changelog for package agni_tf_tools

0.1.6 (2021-07-14)

• Remove setStatus() variants
• Cancel TF request if not needed anymore
• Fix issue when publishing an unknown parent transform
• Contributors: Robert Haschke

0.1.5 (2020-04-15)

• Replace string-based SIGNALs with function pointers
• Always show marker type property
• EulerProperty: use QDoubleSpinBoxes (allowing animated motion)
• Display: Fix several issues with frame updates
  • Always consider return value of fillPoseStamped() and don't publish on failure
  • On failure, register to TF changes to retry later
  • Finish tf2 transition: use tf2::BufferCore instead of tf::Transformer
• Handle multiple TransformBroadcasters in the same ROS node.
• Contributors: Robert Haschke

0.1.4 (2020-03-27)

• migration to tf2
• modernize code
• Contributors: Robert Haschke

0.1.3 (2020-03-27)

• remove superfluous marker_node_
• avoid spurious tf messages when display was saved in disabled state
• Contributors: Robert Haschke

0.1.2 (2019-06-07)

• fix compiler warnings
• cmake: cleanup, correctly announce exported lib
• Contributors: Robert Haschke

0.1.1 (2018-10-30)

• install header files for rviz properties
• Contributors: Robert Haschke