callback / trigger on tf
Hi
I would like to get trigger something if a transformation has changed.
For example map ->odom -> base_link.
One solution would be to subscribe to the tf msgs and to all the work but is there a better way?
I the case of map -> odom -> base_link I could listen to the odom msg (Motor controller) and pose msg (localization) but that is not what I want.
I also want an update even the transformation has not changed meaning i want a trigger if one of the tf's in the tf-chain was re-published.
Any suggestions?