Implement new PoseBroadcaster controller (backport #1311) #1327
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This PR implements a new broadcasting controller based on the
PoseSensorsemantic component introduced in ros-controls/ros2_control#1775.As described in the
PoseSensorPR, my primary use-case for this is the publishing of tcp poses from robot arms. This can be more accurate than calculating forward kinematics, as robot calibrations etc. can be considered by the robot. Settings on the robot side concerning tool offsets etc. can also be included by this (at least for UR and kuka RSI). The ROS 1ur_robot_driverused to publish this transform directly from within the hardware interface, but in ROS 2 there is not yet a standard way for providing this information. A PR for the UR ROS 2 driver already exists at UniversalRobots/Universal_Robots_ROS2_Driver#1108.This controller publishes poses directly as
geometry_msgs::msg::PoseStampeds and as tf transforms (can be disabled).This is an automatic backport of pull request #1311 done by Mergify.