This ROS package provides some tools facilitating the definition of (static) ROS tf transforms.

First of all, it provides some extensions to rviz:

• An EulerProperty class allowing for the definition of arbitrary sets of Euler angles (and conversion between them).
• A RotationProperty class combining EulerProperty and QuaternionProperty to provide flexible means of entering orientation information.
• An interactive transform publisher as an rviz::Display plugin allowing you to define your transforms with an rviz interactive marker. You can use this also, to interactively perform frame transformations.

Furthermore, it provides two cmdline utilities:

• static_transform_publisher is an adapted version of tf2_ros’s source code, providing more fine-grained command-line options to define orientations from an arbitrary set of Euler angles.

• static_transform_publisher_gui is an interactive version of the static_transform_publisher allowing you to modify the transform interactively.