TF2 migration

cfg/DynamicTransformPublisher.cfg

@@ -38,10 +38,10 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
 #       Name                 Type      Reconf level   Description                     Default   Min   Max
+gen.add("rate",              double_t, 0,             "Main loop rate (Hz)",          10.0,     0.1,  1000.0)
 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("period",            double_t, 0,             "period in ms",  100.0,         0.0,  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,      -1000.0,  1000.0)
 gen.add("y",                 double_t, 0,             "y offset in meters",           0.0,      -1000.0,  1000.0)