RobotWebTools/tf2_web_republisher — pull request #14 by T045T (2014-07-24 12:49:26+00:00)
Title: make sure at least one transformation is sent

... even if the tf between 2 frames is (and stays) the identity.

Since tf_transmitted_ implicitly gets initialized to identity even before the node actually transmits anything, a pair of frames joined by an identity transform would never register as crossing the two thresholds, and this never be republished.

Added a simple flag to make sure an identity transform is republished exactly once.