Publish transformation to tf_tree from behavior tree node.

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Hi all,

I am building a module to extend the original behavior tree's that come with the navigation2 stack. In the module I am building i want to publish or broadcast the pose of an element i am recognizing into the tf_tree, in which the object should be posted relevant to the map frame.

I came far with the module but I am running into problems with publishing/ broadcasting this pose. How would you guys do this?

I am working on Ubuntu 20.04 LTS with ros2 Foxy

Kind regards,

Kevin