Model TF Publisher

Model TF publisher broadcasts TF of bodies in the model. It obtains world position and orientation of bodies from the simulation, calculates relative transformation w.r.t. the specifies reference body, and broadcast the TF.

plugins:

    # required, specify model tf publisher plugin to load this plugin
  - type: ModelTfPublisher

    # required, name of the model tf publisher plugin, must be unique
    name: state_publisher

    # optional, defaults to inf (broadcast every iteration)
    update_rate: .inf

    # optional, defaults to false, whether to broadcast TF w.r.t. to a frame frame
    publish_tf_world: false

    # optional, defaults to map, the world frame ID, only used when
    # publish_tf_world is set to true
    world_frame_id: map

    # optional, defaults to the first body in the model, the reference body to
    # broadcast all other bodies' TF with respect to. Does not affect actual
    # transformation, only affects how the TF tree looks
    reference: base_link

    # optional, defaults to [], bodies to not broadcast TF for
    exclude: []

  # another example
  - type: ModelTfPublisher
    name: state_publisher_2

  # another example
  - type: ModelTfPublisher
    name: state_publisher_3
    exclude: ["castor_wheel"]