Use static tf frames instead of publishing with fix rate

frame_editor/src/frame_editor/editor.py

@@ -308,7 +308,7 @@ def parse_args(self, argv):
         parser.add_argument("-l", "--load", action="append",
                       dest="file",
                       help="Load a file at startup. [rospack filepath/file]")
-        parser.add_argument("-r", "--rate", type=int)
+        parser.add_argument("-r", "--rate", type=int, help="Rate for broadcasting. Does not involve tf frames.")
 
         args, unknowns = parser.parse_known_args(argv)
         print('arguments: {}'.format(args))

frame_editor/src/frame_editor/interface_tf.py

@@ -13,13 +13,14 @@ def __init__(self, frame_editor):
         self.editor = frame_editor
         self.editor.observers.append(self)
 
-    def broadcast(self, editor):
-        #print "> Broadcasting"
+    def update(self, editor, level, elements):
         now = rospy.Time.now()
-        transforms = [
-            ToTransformStamped(
-                f.position, f.orientation, now, f.name, f.parent)
-            for f in editor.frames.values()]
-        Frame.tf_broadcaster.sendTransform(transforms)
-
+        transforms = []
+        for element in elements:
+            if element is not None and (level & 1 == 1 or level & 4 == 4):
+                print(f"updating element {element.name}")
+                transforms.append(ToTransformStamped(
+                element.position, element.orientation, now, element.name, element.parent))
+        if len(transforms) > 0:
+            Frame.tf_broadcaster.sendTransform(transforms)
 # eof

frame_editor/src/frame_editor/objects.py

@@ -41,7 +41,7 @@ def __init__(self, name, position=(0,0,0), orientation=(0,0,0,1), parent="world"
     @staticmethod
     def init_tf():
         if Frame.tf_buffer is None:
-            Frame.tf_broadcaster = tf2_ros.TransformBroadcaster()
+            Frame.tf_broadcaster = tf2_ros.StaticTransformBroadcaster()
             Frame.tf_buffer = tf2_ros.Buffer()
             Frame.tf_listener = tf2_ros.TransformListener(Frame.tf_buffer)