Easily republish tf_static transformations from an existing ros2 - bag file

Additionally it is possible to define topic remappings.

Put the project wherever you want. If you want to use it from everywhere it should probably be in /usr/bin?

pip install -r requirements.txt

There are two options:

python3 <abs_path>/tf_static_republish/main.py 
<abs_path>/rosbag2_example.db3 

data/trans_example_data.yaml provides an example how static transformations can be created manually and used for republishing static transformations.

python3 <abs_path>/tf_static_republish/main.py 
<abs_path>/data/example_trans.yaml 

All commands (above) expect either only 1 argument ( a file ), or 3 arguments ( a file ) and both tf-republishing topics. So they can be called either with:

file_path

or

file_path <tf_static_republish_topic> <tf_republish_topic>

If tf-republishing topics are specified the internal started static_tf_republisher will be called with following flags:

--ros-args --remap tf:=<tf_static_republish_topic> --remap tf_static:=<tf_republish_topic>

Parsing transformations directly from a .xacro could be usefull but was not implemented yet, because that would require extensive file parsing and generalizing it is not straight forward, feel free to contribute.