dynamic_transform_publisher

A ROS 2 tool similar to static_transform_publisher, but for dynamic transforms.
It subscribes to messages like Odometry or Pose and republishes them as TF frames.
Useful for debugging, visualization in RViz, and test environments.

Features

• Supports multiple message types:
  • nav_msgs/msg/Odometry
  • geometry_msgs/msg/PoseStamped
  • geometry_msgs/msg/PoseWithCovarianceStamped
  • geometry_msgs/msg/TransformStamped
  • geometry_msgs/msg/Pose
  • geometry_msgs/msg/PoseWithCovariance
• Simple command line interface
• Auto-detects parent/child frame ids (or manual override)

Installation

Clone into your ROS 2 workspace

cd ~/ros2_ws/src

git clone https://github.com/omer/dynamic_transform_publisher.git

cd ~/ros2_ws

colcon build --packages-select dynamic_transform_publisher

source install/setup.bash

Usage

ros2 run dynamic_transform_publisher dynamic_transform_publisher_node
<topic_name> <msg_type> <parent_frame|auto> <child_frame|auto>

Examples

Convert Odometry to TF

ros2 run dynamic_transform_publisher dynamic_transform_publisher_node /odom nav_msgs/msg/Odometry odom base_link

Convert PoseStamped to TF

ros2 run dynamic_transform_publisher dynamic_transform_publisher_node /pose geometry_msgs/msg/PoseStamped map base_link

Pass through TransformStamped

ros2 run dynamic_transform_publisher dynamic_transform_publisher_node /tf_in geometry_msgs/msg/TransformStamped auto auto