I've never worked with tf2 in depth, but a transform broadcaster or static broadcaster is not hard to implement: it's pretty much a node that publishes tf2 messages. There are also some helper classes around to handle geometry transformations and stuff like that. Another option would be to use a cross compiled version of the Cpp library, but I'd only do that if the library you need is too complicated to implement in Java (for a simple publisher, I think it's not the case). Perhaps if you open a concrete thread in ROS Answers I can be more helpful. Please point me to the link if you do so! --- [Visit Topic](https://discourse.ros.org/t/is-rosjava-worth-using-when-not-using-android/1967/8) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: