Is there an easy way to publish a static transform between leaves of two tf2 trees?
This is similar to the question: https://answers.ros.org/question/5863...
That was five years ago. Can we do better today?
Given a tree:
r0/base_link
r0/attach
and
r1/base_link
r1/attach
Can I do something as simple as static_transform_publisher to describe the link from r0/attach to r1/attach? What if base_link->attach changes over time? Do we need a dynamic_transform_publisher to accomplish this?
One approach is to walk up the tree to the first unparented link in each tree and join them there, but that must be recomputed each time any link is updated.
Another approach is to allow multiple parents (essentially arbitrary linked transforms) but then transforms become a search process instead of a simple lookup.
What is the solution for this (seemingly common) use case? There are transforms we can figure out more easily that others. Yes, they can be transformed, but does this tool exist as a library or node?