This changes the approach to how the transformations between frames are done. Now we use tf2 topics. That way ti is much more generalized for all teams that might want to use this script. Also it make sit much easier to deal with fromt he tools perspective.
Downside:
Teams have to have their tf trees on check for this to work.
This changes the approach to how the transformations between frames are done. Now we use tf2 topics. That way ti is much more generalized for all teams that might want to use this script. Also it make sit much easier to deal with fromt he tools perspective.
Downside: