mulberry

Coordinate transformation tree with a focus on efficiency

Overview

The goal of this project is to provide the functionality of ROS's TF2 but without the need for the ROS framework or intraprocess communication. By removing that restriction, we aim to allow more efficient transform querying by allowing truly static transforms, cached intermediate connections, and unrestricted tree merging.

Contributing

This project is still in the very early stages, but any contributions would be appreciated. In addition to code/testing/documentation contributions, please let us know if there are any features which would make this tool more helpful. This will help direct the future of the project.