Transformation[tf] remapping

• old: contains the name of tf that needs to be remapped
• new: new name of tf

example

<launch>
 
 <!--tf remmapper node-->
  <node pkg="tf" type="tf_remap" name="tf_remapper" output="screen">
    <rosparam param="mappings">
      [{old: /imu, new: /base_link}]
    </rosparam>
  </node>

 <!--node whose tf needs to be remapped-->
  <node pkg="rosbag" type="play" name="player" args="/home/drive/test.bag">
    <remap from="tf" to="tf_old" />
  </node>

</launch>

• Subcribed topic

/tf_old (tf/tfMessage) Old transform tree. This is usually published by remapping playback of a bag file. You may need to set use_sim_time true for the bag file transforms to be accepted.

• Published topics

/tf (tf/tfMessage) Current transform tree. This is the normal /tf topic.