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Fix republishing behavior in PublishStaticTransform - #54
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scastro-nasa
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crainen-nasa,
eholum-nasa and
msavchen-nasa
October 5, 2026 13:58
scastro-nasa
commented
Oct 5, 2026
| COLCON_DEFAULT_OUTPUT_STYLE = "catkin_tools" | ||
| COLCON_DEFAULTS_FILE = "${PIXI_PROJECT_ROOT}/config/colcon-defaults.yaml" | ||
| RCUTILS_COLORIZED_OUTPUT = "1" | ||
| PYTHONNOUSERSITE = "1" # Never pick up packages from the user site-packages |
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adding for good measure
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wat Edit: I guess in the context of tf2 static == eternal, good to know. |
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@msavchen-nasa ran into an issue where republishing a static transform in the same Python session caused it to never update.
The clankers confirmed that the
tf2_rosPython implementation actually silently drops updated static transforms once they have already been added. See https://github.com/ros2/geometry2/blob/f702874b1c8535d6a038230ab2cda0ba5d521ebd/tf2_ros_py/tf2_ros/static_transform_broadcaster.py#L74-L77... and ros2/geometry2#705