/usr/lib/tf/tf_remap is in tf-tools 1.11.8-4.
This file is owned by root:root, with mode 0o755.
The actual contents of the file can be viewed below.
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## remap a tf topic
import rospy
from tf.msg import tfMessage
class TfRemapper:
def __init__(self):
self.pub = rospy.Publisher('/tf', tfMessage, queue_size=1)
mappings = rospy.get_param('~mappings', [])
self.mappings = {}
for i in mappings:
if "old" in i and "new" in i:
self.mappings[i["old"]] = i["new"]
print "Applying the following mappings to incoming tf frame ids", self.mappings
rospy.Subscriber("/tf_old", tfMessage, self.callback)
def callback(self, tf_msg):
for transform in tf_msg.transforms:
if transform.header.frame_id in self.mappings:
transform.header.frame_id = self.mappings[transform.header.frame_id]
if transform.child_frame_id in self.mappings:
transform.child_frame_id = self.mappings[transform.child_frame_id]
self.pub.publish(tf_msg)
def remap_tf():
pub.publish(Empty())
if __name__ == '__main__':
rospy.init_node('tf_remapper')
tfr = TfRemapper()
rospy.spin()
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