Add tf_broadcaster.

bin/tf_broadcaster

+#!/usr/bin/env python
+
+# This node subscribes to topic transformation published by
+# dynamic_graph_bridge and forward them into tf.
+#
+# This is required as there is no easy way to publish to tf in
+# real-time.
+
+import roslib
+roslib.load_manifest('dynamic_graph_bridge')
+import rospy
+
+import tf
+import geometry_msgs.msg
+
+def handleTransform(msg, topic):
+    br = tf.TransformBroadcaster()
+    br.sendTransform((msg.transform.translation.x,
+                      msg.transform.translation.y,
+                      msg.transform.translation.z),
+                     (msg.transform.rotation.x,
+                      msg.transform.rotation.y,
+                      msg.transform.rotation.z,
+                      msg.transform.rotation.w),
+                     msg.header.stamp,
+                     topic,
+                     #msg.child_frame_id,
+                     '/world')
+                     #msg.header.frame_id)
+
+def handleVector(msg, topic):
+    br = tf.TransformBroadcaster()
+    br.sendTransform((msg.vector.x, msg.vector.y, msg.vector.z), (0, 0, 0, 1),
+                     msg.header.stamp,
+                     topic,
+                     #msg.child_frame_id,
+                     '/world')
+                     #msg.header.frame_id)
+
+if __name__ == '__main__':
+    rospy.init_node('dynamic_graph_broadcaster')
+
+    topicsTransform = ['base_link', 'base_footprint']
+    topicsVector = ['com', 'zmp']
+
+    for topic in topicsTransform:
+        rospy.Subscriber('/dynamic_graph/{0}'.format(topic),
+                         geometry_msgs.msg.TransformStamped,
+                         handleTransform, topic)
+    for topic in topicsVector:
+        rospy.Subscriber('/dynamic_graph/{0}'.format(topic),
+                         geometry_msgs.msg.Vector3Stamped,
+                         handleVector, topic)
+    rospy.spin()