More than one static_transform_publisher doesn't work via rosbag

[leftys]

I tried to run this on Indigo:

rosbag record /tf /tf_static
rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link test
rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link test2

and then rosbag play ... wait for a while rostopic echo /tf_static Only the second tf (base_link -> test2) shows up.

[tfoote]

Related: https://github.com/ros/ros_comm/issues/146

[mkhansenbot]

@tfoote - is there any plan to fix this?

[peci1]

What about running https://github.com/tradr-project/static_transform_mux during the recording? That would "ensure" that the last published /tf_static message would contain all the transforms needed for replay. Moreover, you could even add more static transforms during the replay, if you launch the mux also during replay.

[doisyg]

I would love this issue to be fixed or @peci1 package to be merged and released.