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21 lines
588 B
Python
21 lines
588 B
Python
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#!/usr/bin/env python
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import rospy
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from tf2_msgs.msg import TFMessage
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msg=TFMessage()
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def callback(data):
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global msg
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if len(msg.transforms) == 0:
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msg = data
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else:
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msg.transforms = msg.transforms+ data.transforms
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rospy.loginfo("Received /tf_static_old and republising latched /tf_static")
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pub.publish(msg)
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if __name__ == '__main__':
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rospy.init_node('listener', anonymous=True)
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rospy.Subscriber("tf_static_old", TFMessage, callback)
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pub = rospy.Publisher('tf_static', TFMessage, queue_size=10, latch=True)
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rospy.spin()
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