partial TF sharing across concert

[jihoonl]

TF sharing across concert is limited at the moment.

Each client provides it's location using robot_pose_publisher as PoseStamped. While concert master listens to these robot pose and generates tf message in the concert workspace using rocon_tf_reconstructor.

• What if concert need to compute tranform between client A's gripper to client B's camera view?
• How do we calibrate robot's pose using array of cameras provided by other concert agent?

Need a way to share partial TF trees across concert without conflicting frame ids

[jihoonl]

Notes

• /tf is provided by bootstrap layer, which is hard to share across concert
• consider low bandwidth network use..

[jihoonl]

Existing tf sharing or tf relaying method

• tf_prefix
• tf2_web_republisher

[stonier]

Might have to talk to tully about this one and look at a forked upgrade of tf to handle the situation properly instead of continually hacking around tf problems. Last visit he mentioned there was still some things to do, but it wasn't far off being usable.

I don't yet have any real idea of details though.