How to publish static transform(/tf_static)?


I would like to know how to publish static transfrom topic from Isaac SIM using Omnigraph node. Tutorial document uses ‘ROS2PublishTransformTree’ API, but it only publishes dynamic transform.

Any suggestion?

have you tried to use the “ROS2PublishRawTransformTree”? and change the topicName from the default /tf to /tf_static.

Thanks for your response. Unfortunately, ROS2PublishRawTransformTree with /tf_static did not work.

Hi - Sorry for the delay in the response. Let us know if you still having this issue/question with the latest Isaac Sim 2022.2.1 release.

Hi @kyungho.yoo,

This is currently not available in Isaac Sim. We will look into implementing this in the future.

In the meantime you could try creating your own custom node using the Script Omnigraph node or standalone workflow that uses a TF2 static broadcaster