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You could invert the world->marker transform? In other words, could your node instead publish the inverse of your current transform i.e. marker->world. Then world would be a child of marker, and you wouldn't have a two-parent problem in your tree.
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You could invert the world->marker transform? transform. In other words, could your node could instead publish the inverse of your current transform i.e. marker->world. Then world would be a child of marker, and you wouldn't have a two-parent problem in your tree.
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