Hi,

I have a scenario in which I have a simulated world in Gazebo with static sensors attached to walls. I'd like to visualise both the sensors from a robot and the static sensors in rviz. However, the former isn't possible for some data types due to the lack of fixedframes in rviz. So, for example, LaserScan messages can be viewed from the robot sensors (from baselink) but not from the world sensors (since, e.g., wall_1 isn't visible to rviz).

I know I can compute the transformation from the world origin to the sensors and broadcast a frame with tf2. However, this could be quite tedious for large worlds with many sensors defined using relative measurements (relative to a frame defined in the SDF).

What is the standard way to achieve this? Is there a programmatic way to broadcast the frames associated with sensors defined in Gazebo worlds to rviz?

Thanks