[harelb]

Summary

Bags that record TF on namespaced topics (e.g. /<robot>/tf, /<robot>/tf_static) used to skip
TF frame filtering, because the TF plugin and static_tfs_from_bag only looked at /tf and
/tf_static by name. Remapping the topic at playback doesn't help: the plugin decides what to
filter from the topic names stored in the bag.

• play_rosbag TF plugin: add --tf-topic and --tf-static-topic (defaults /tf,
  /tf_static). The chosen bag topics go through the same --filter-tf / -k / -f filtering,
  and the filtered transforms are still republished on /tf and /tf_static.
• static_tfs_from_bag: add --tf-static-topic (default /tf_static).

The defaults keep existing commands and older bags behaving exactly as before.

Testing

• Replayed an older bag (TF on /tf) through play_rosbag --filter-tf with the defaults; frame
  filtering and a downstream Hydra scene graph worked as before.
• static_tfs_from_bag on the same bag with the default topic extracted all 17 static transforms.
• Not yet tested on a bag with namespaced TF (one is being recorded).

🤖 Generated with Claude Code

[nathanhhughes]

LGTM! I'm definitely fine with this even if we don't end up recording remapped TF topics long term.

The option descriptions are a little off though; I don't need the examples of alternative /tf and /tf_static topics, and technically the /tf_static processing publishes aggregated transforms, not filtered transforms. I forget if you have merge access, so lmk if you have time to clean them up or just want me to merge this