Adding Static Transform Broadcaster Behavior - #48
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…the find world behavior. Also added a publish static transform behavior. Will edit tests once I get the world behavior working with these.
scastro-nasa
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Sep 17, 2026
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The public static transform is good, though I have a suggestion.
The tag_found output in the existing behavior I would push back on. Isn't the SUCCESS/FAILURE status of the actual node telling you exactly the same information as this boolean value? You should be able to use the actual control flow of the BT to handle whatever you might be using this for, no?
…g to use the tag_found bool for the SuccessIfVariableTrue decorator for PB find world tree. But I ended going a different route, and didn't end up using it. The tag_pose output is sufficient.
…atic transform broadcaster from the blackboard instead of creating a new one.
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Looks good -- if this is all you end up needing, you can rename the PR to say something like "Static transform broadcaster behavior"!
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September 18, 2026 20:29
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Sep 18, 2026
…eometry_behaviors for publish static transform.
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September 18, 2026 20:41
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Added a publish static transform behavior, to be used in PB find world behavior tree to constantly publish the world tag.