This project is used for users who wants to receive the position of the robot, the lidar and the camera on the in geometry_msgs.PoseStamped on wanted global frame. The message is calculated by the lookuptransform mechanism of the TF. This branch is for ros2 (humble).

docker pull cognimbus/tf_to_poses:humble

the wanted base_frame (robot's location on the map).

the wanted laser_frame (lidar's location on the map).

the wanted camera_frame (camera's location on the map).

the wanted global_frame (by deafult is map).

The rate in HZ for publishing the messages