Closed ejalaa12 closed 4 years ago
Thanks for proposing to fill in this API. However static transforms were added in tf2 and tf's API has been kept and built upon the tf2 implementation for backwards compatibility. However tf's whole API is deprecated in favor of tf2 so if you'd like to take advantage of the static transform please switch to use tf2.
In the
TransformerROS
class implemented in tf, the method for setting tf is implemented such as:https://github.com/ros/geometry/blob/00a32d024af476bf50822e6df2fe2ec97765b1a9/tf/src/tf/listener.py#L62-L63
But it can be confusing when using static tfs. Since no
setTransformStatic
method exist, we would "naturally" fallback to thesetTransform
, which is wrong since it doesn't call_buffer.set_transform_static
and result in a bad graph.To be correct, when setting static tfs to a
TransformerROS
instance we would use something like thisOtherwise, lookup might fail.
Hope you find this useful :)