Add ros transform publisher.

extras/ros/docker-compose-3d.yml

@@ -31,3 +31,16 @@ services:
             - QT_X11_NO_MITSHM=1
             - "PYTHONUNBUFFERED=1"
         command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run rpt3d_wrapper_cpp rpt3d_wrapper'
+
+    skeleton_tfs:
+        image: rapidposetriangulation_ros3d
+        network_mode: "host"
+        ipc: "host"
+        privileged: true
+        volumes:
+            - ../../:/RapidPoseTriangulation/
+            - /tmp/.X11-unix:/tmp/.X11-unix
+            - /dev/shm:/dev/shm
+        environment:
+            - "PYTHONUNBUFFERED=1"
+        command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run transform_publisher skeleton_tfs'