tf_static_relay

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Republish /tf_static at a fixed rate for bag recording split chunks

Maintainers

WATonomous

Authors

No additional authors.

tf_static_relay

Temporary package — remove once ros2/rosbag2#2342 is released and available in our ROS distribution.

Problem

When recording bags with --max-bag-size or --max-bag-duration, /tf_static messages are only captured in the first chunk. Static transforms use transient local QoS and are published once at startup, so subsequent bag chunks are missing them.

Solution

This node subscribes to /tf_static, accumulates all static transforms, and republishes them at a fixed rate (default 1 Hz). This ensures every bag chunk contains the static transforms.

Parameters

Parameter	Default	Description
`publish_rate`	`1.0`	Republish rate in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	rclpy
	tf2_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
infrastructure_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf_static_relay` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

tf_static_relay package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Republish /tf_static at a fixed rate for bag recording split chunks

Maintainers

WATonomous

Authors

No additional authors.

tf_static_relay

Temporary package — remove once ros2/rosbag2#2342 is released and available in our ROS distribution.

Problem

When recording bags with --max-bag-size or --max-bag-duration, /tf_static messages are only captured in the first chunk. Static transforms use transient local QoS and are published once at startup, so subsequent bag chunks are missing them.

Solution

This node subscribes to /tf_static, accumulates all static transforms, and republishes them at a fixed rate (default 1 Hz). This ensures every bag chunk contains the static transforms.

Parameters

Parameter	Default	Description
`publish_rate`	`1.0`	Republish rate in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	rclpy
	tf2_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
infrastructure_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf_static_relay` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

tf_static_relay package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Republish /tf_static at a fixed rate for bag recording split chunks

Maintainers

WATonomous

Authors

No additional authors.

tf_static_relay

Temporary package — remove once ros2/rosbag2#2342 is released and available in our ROS distribution.

Problem

When recording bags with --max-bag-size or --max-bag-duration, /tf_static messages are only captured in the first chunk. Static transforms use transient local QoS and are published once at startup, so subsequent bag chunks are missing them.

Solution

This node subscribes to /tf_static, accumulates all static transforms, and republishes them at a fixed rate (default 1 Hz). This ensures every bag chunk contains the static transforms.

Parameters

Parameter	Default	Description
`publish_rate`	`1.0`	Republish rate in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	rclpy
	tf2_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
infrastructure_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf_static_relay` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

tf_static_relay package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Republish /tf_static at a fixed rate for bag recording split chunks

Maintainers

WATonomous

Authors

No additional authors.

tf_static_relay

Temporary package — remove once ros2/rosbag2#2342 is released and available in our ROS distribution.

Problem

When recording bags with --max-bag-size or --max-bag-duration, /tf_static messages are only captured in the first chunk. Static transforms use transient local QoS and are published once at startup, so subsequent bag chunks are missing them.

Solution

This node subscribes to /tf_static, accumulates all static transforms, and republishes them at a fixed rate (default 1 Hz). This ensures every bag chunk contains the static transforms.

Parameters

Parameter	Default	Description
`publish_rate`	`1.0`	Republish rate in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	rclpy
	tf2_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
infrastructure_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf_static_relay` at Robotics Stack Exchange

tf_static_relay package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Republish /tf_static at a fixed rate for bag recording split chunks

Maintainers

WATonomous

Authors

No additional authors.

tf_static_relay

Temporary package — remove once ros2/rosbag2#2342 is released and available in our ROS distribution.

Problem

When recording bags with --max-bag-size or --max-bag-duration, /tf_static messages are only captured in the first chunk. Static transforms use transient local QoS and are published once at startup, so subsequent bag chunks are missing them.

Solution

This node subscribes to /tf_static, accumulates all static transforms, and republishes them at a fixed rate (default 1 Hz). This ensures every bag chunk contains the static transforms.

Parameters

Parameter	Default	Description
`publish_rate`	`1.0`	Republish rate in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	rclpy
	tf2_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
infrastructure_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf_static_relay` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

tf_static_relay package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Republish /tf_static at a fixed rate for bag recording split chunks

Maintainers

WATonomous

Authors

No additional authors.

tf_static_relay

Temporary package — remove once ros2/rosbag2#2342 is released and available in our ROS distribution.

Problem

When recording bags with --max-bag-size or --max-bag-duration, /tf_static messages are only captured in the first chunk. Static transforms use transient local QoS and are published once at startup, so subsequent bag chunks are missing them.

Solution

This node subscribes to /tf_static, accumulates all static transforms, and republishes them at a fixed rate (default 1 Hz). This ensures every bag chunk contains the static transforms.

Parameters

Parameter	Default	Description
`publish_rate`	`1.0`	Republish rate in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	rclpy
	tf2_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
infrastructure_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf_static_relay` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

tf_static_relay package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Republish /tf_static at a fixed rate for bag recording split chunks

Maintainers

WATonomous

Authors

No additional authors.

tf_static_relay

Temporary package — remove once ros2/rosbag2#2342 is released and available in our ROS distribution.

Problem

When recording bags with --max-bag-size or --max-bag-duration, /tf_static messages are only captured in the first chunk. Static transforms use transient local QoS and are published once at startup, so subsequent bag chunks are missing them.

Solution

This node subscribes to /tf_static, accumulates all static transforms, and republishes them at a fixed rate (default 1 Hz). This ensures every bag chunk contains the static transforms.

Parameters

Parameter	Default	Description
`publish_rate`	`1.0`	Republish rate in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	rclpy
	tf2_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
infrastructure_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf_static_relay` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

tf_static_relay package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Republish /tf_static at a fixed rate for bag recording split chunks

Maintainers

WATonomous

Authors

No additional authors.

tf_static_relay

Temporary package — remove once ros2/rosbag2#2342 is released and available in our ROS distribution.

Problem

When recording bags with --max-bag-size or --max-bag-duration, /tf_static messages are only captured in the first chunk. Static transforms use transient local QoS and are published once at startup, so subsequent bag chunks are missing them.

Solution

This node subscribes to /tf_static, accumulates all static transforms, and republishes them at a fixed rate (default 1 Hz). This ensures every bag chunk contains the static transforms.

Parameters

Parameter	Default	Description
`publish_rate`	`1.0`	Republish rate in Hz

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_python
	rclpy
	tf2_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
infrastructure_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `tf_static_relay` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

tf_static_relay package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.0
License	Apache-2.0
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Description	Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-24
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Republish /tf_static at a fixed rate for bag recording split chunks

Maintainers

WATonomous

Authors

No additional authors.