Add time offset parameter to be added or substracted to the published transform time

cfg/DynamicTransformPublisher.cfg

@@ -42,6 +42,7 @@ gen.add("rate",              double_t, 0,             "Main loop rate (Hz)",
 gen.add("broadcast",         bool_t,   0,             "enable broadcasting",          True)
 gen.add("parent_id",         str_t,    0,             "parent frame id",              "parent")
 gen.add("frame_id",          str_t,    0,             "child frame id",               "child")
+gen.add("time_offset",       double_t, 0,             "Seconds offset to add to time now",           0.0,      -10000.0,  10000.0)
 gen.add("reset_translation", bool_t,   0,             "reset x y z offsets to zero",  False)
 gen.add("x",                 double_t, 0,             "x offset in meters",           0.0,      -10000.0,  10000.0)
 gen.add("y",                 double_t, 0,             "y offset in meters",           0.0,      -10000.0,  10000.0)

src/dynamic_transform_publisher_alg_node.cpp

@@ -38,7 +38,7 @@ void DynamicTransformPublisherAlgNode::mainNodeThread(void)
   this->alg_.lock();
   if(this->config_.broadcast)
   {
-    this->transform_msg.header.stamp = ros::Time::now();
+    this->transform_msg.header.stamp = ros::Time::now() + ros::Duration(this->config_.time_offset);
     this->tf2_broadcaster.sendTransform(this->transform_msg);
   }
 
@@ -60,7 +60,7 @@ void DynamicTransformPublisherAlgNode::node_config_update(Config &config, uint32
   if(config.rate!=this->getRate())
     this->setRate(config.rate);
 
-  this->transform_msg.header.stamp    = ros::Time::now();
+  this->transform_msg.header.stamp    = ros::Time::now() + ros::Duration(this->config_.time_offset);
   this->transform_msg.header.frame_id = config.parent_id;
   this->transform_msg.child_frame_id  = config.frame_id;