I&#39;m running up against a wall in the form of tf&#39;s tree restrictions.  Namely, I&#39;d like to have both gmapping and amcl running simultaneously (long story), but both publish XXX =&gt; odom_combined (naturally, the parent frame is param-configurable).  The problem is, that tf (apparently) does not allow multiple parents (eg. it forces it to be a tree), and there doesn&#39;t seem to be a way to flip the directionality of the transform (odom_combined =&gt; XXX).  <br>
<br>I thought perhaps tf_remap or tf_prefix would fit the bill... but after a few hours of experimentation, both approaches still end up in this same problem.  I guess... what I&#39;m really looking for is something akin to topic_tools/mux only for tf topics.  Then I could just flip the mux when I want one transform or another.<br>
<br>Has anyone found a good solution to this sort of problem?  <br clear="all"><br>~Travis Deyle<br>
PhD student @ Georgia Tech&#39;s Healthcare Robotics Lab<br>
Co-Founder <a href="http://www.Hizook.com" target="_blank">www.Hizook.com</a> -- Robotics News for Academics &amp; 
Professionals<br>