ROS tf remapping

Today I was asked how to remap a ROS tf to another one. Normally I would use static_transform_publisher, which could publish an identical transform of one tf with the new name.

While there is another way, by using tf_remap, a sample launch file is below

<!--tf remmapper node-->
  <node pkg="tf" type="tf_remap" name="tf_remapper" output="screen">
    <rosparam param="mappings">
      [{old: /imu, new: /base_link}]
    </rosparam>
  </node>
​
 <!--node whose tf needs to be remapped-->
  <node pkg="rosbag" type="play" name="player" args="/home/drive/test.bag">
    <remap from="tf" to="tf_old" />
  </node>
​
</launch>

reference

• https://aerial-robotics-iitk.gitbook.io/wiki/tutorials/miscellaneous/tf2

• https://answers.ros.org/question/216582/how-to-use-tf_remap/

• https://stackoverflow.com/questions/32254799/how-to-use-tf-remap