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broadcasting transform tutorial question

In looking at tutorial http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/TF why is it necessary to to have the transform broadcast for links in fixed relation in a loop. What is the reasoning behind rebroadcasting.

Asked by rnunziata on 2013-08-14 15:15:34 UTC

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There are two reasons. First if you do not reassert that the transform is still valid it will not be assumed to be so. (Updated in tf2 to use latched publishers and not require republishing)

Secondly, if you do not rebroadcast the information new publishers coming online will not know about the previously published transforms. (tf2 static transforms use latched topics for publishing)

Asked by tfoote on 2013-08-15 11:27:01 UTC

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thanks ...did conversion to tf2_ros for statics

Asked by rnunziata on 2013-08-15 14:34:01 UTC