Create tool to debug tf frames coming from multiple publishers

[pjreed]

An issue we've run into several times is when multiple different nodes are publishing a tf frame. This often manifests as a frame shifting or rotating in periodic intervals in visualization tools. While there's nothing illegal about a frame coming from multiple different sources, in practice this is very rare and almost never a useful case.

It'd be nice to have a node or a script that could run and alert you when different sources have published a frame and also identify what those sources are.

@matt-attack @kriskozak

[evenator]

I believe the roswtf plugin does this, but it's a tool, not a monitoring node.

[matt-attack]

I messed around with roswtf on my system and it appears that it does indicate if there are multiple publishers

[pjreed]

Oh, that's nice. Does it indicate who the publishers are? I've always had an issue with tf_monitor that it never seemed to be able to identify who was publishing what...

[matt-attack]

It appears so.

analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 1 error(s).

ERROR TF multiple authority contention:
 * node [/static_tf2] publishing transform [/map] with parent [/far_field] already published by node [/static_tf]
 * node [/static_tf] publishing transform [/map] with parent [/far_field] already published by node [/static_tf2]