MikeDegany / tf_relay

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

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