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I believe that you'll find that it's built into a standalone executable static_transform_publisher and provides the following help for the command line arguments:

root@ba6984009c30:/# ros2 run tf2_ros static_transform_publisher -h
usage: static_transform_publisher [--x X] [--y Y] [--z Z] [--qx QX] [--qy QY] [--qz QZ] [--qw QW] [--roll ROLL] [--pitch PITCH] [--yaw YAW] --frame-id FRAME_ID --child-frame-id CHILD_FRAME_ID

A command line utility for manually sending a static transform.

If no translation or orientation is provided, the identity transform will be published.

The translation offsets are in meters.

The rotation may be provided with roll, pitch, yaw euler angles in radians, or as a quaternion.

required arguments:
  --frame-id FRAME_ID parent frame
  --child-frame-id CHILD_FRAME_ID child frame id

optional arguments:
  --x X                 x component of translation
  --y Y                 y component of translation
  --z Z                 z component of translation
  --qx QX               x component of quaternion rotation
  --qy QY               y component of quaternion rotation
  --qz QZ               z component of quaternion rotation
  --qw QW               w component of quaternion rotation
  --roll ROLL           roll component Euler rotation
  --pitch PITCH         pitch component Euler rotation
  --yaw YAW             yaw component Euler rotation