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ROS 2 node for republishing the /tf topics with /namespace/tf

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ROS2 Node to relay namespaced tf to global tf

This node is necessary to run multiple turtlebot4's in a global frame, this node subscribes to each namespaced tf topic, gets the transforms and appends the namespace as the frame_prefix, then publishes it to the global /tf topic.

Note:frame_prefix=namespace

Usage

By default the number of robots agents=4 and namespace=agent
ros2 run tf_relay relay
Change number of robots and namespace

For example: namespace = turtlebot4 number of robots = 10

ros2 run tf_relay relay 'turtlebot4' 10

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ROS 2 node for republishing the /tf topics with /namespace/tf

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  • Python 100.0%