I'd bet that 90-100% of transform requests in typical ros systems run
through a chain delivered through robot_state_publisher. Wouldn't it make
sense to optionally allow tf::TransformListener to parse a URDF and
subscribe to /joint_states in addition to /tf? The advantage is that you
can do proper interpolation between joint configurations and you vastly
reduce the bandwidth of /tf. Plus, you eliminate a processor intensive node
which is mostly relaying redundant information easily read from the URDF.
I'm sure this isn't a novel idea, but are there any plans to integrate this
behavior into ROS core? Any caveats?
-Kelsey
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