Publish static transforms

[rikba]

Our geotf object knows a transformation between the cartesian frames ECEF and ENU. Can it somehow broadcast this TF transform?

Something like

geotf_.addFrameByEPSG("ecef", 4978);
geotf_.addFrameByENUOrigin("enu", lat, lon, alt);
geotf_.publishTf("ecef", "enu");