tf2 reversing coordinate frame tree
The tf2 documentation suggests that the implementation somewhat breaks down in cases where coordinate frames require re-parenting. Is there a reasonable solution for completely reversing the child-parent tree?
A simple example: a serial manipulator has 3 joints, 'joint1', 'joint2', 'joint3', and the tf2 tree is configured to reflect this (joint1 --> joint2 --> joint3). At any point, I'd like to reverse the configuration such that the 'joint3' frame is now effectively treated as the 'joint1' frame (i.e. joint3 --> joint2 --> joint1).
A thought: Would a potential solution be to modify the frame_id for each joint? For instance, before reversing, the frame_ids 'joint1', 'joint2', and 'joint3' would correspond to the physical joint1, joint2, and joint3, respectively. Then, could I simply overwrite the frame_ids linked to the physical joints such that the physical joint1 is represented by frame_id 'joint3', etc. ?
