tf_relay
This node broadcasts transforms from a given fixed frame to a given output frame which is the same as reference frame in specified duraiton even when reference frame is not broadcasted.
Parameters
- '~max_duration' ( double, default: 5.0 )
cache duration for tf2 buffer.
- '~timeout_duration' ( double, default: 0.05 )
timeout duration for lookuptransform of tf.
- '~timer_duration' ( double, default: 0.1 )
spin duration for main process
- '~reference_frame_id" ( string, default: 'reference_frame' )
tf frame_id of reference frame.
- '~output_frame_id' ( string, default: 'output_frame' )
tf frame_id of output frame.
- '~fixed_frame_id' ( string, default: 'fixed_frame' )
tf frame_id of fixed frame.