Awesome

pose_to_tf_publisher

Package that publishes TF from poses (geometry_msgs::PoseStamped, geometry_msgs::PoseWithCovarianceStamped, nav_msgs::Odometry, Float64 or from a text file).

It can also republish / remap a given TF chain into another (with the possibility to add a time offset to the TF message -> useful to synchronize ground truth poses).

TF messages can be published continuously, with a timeout counted after the last valid pose estimation or one message for each pose received.