Add a release note for the static_transform_publisher args. (#2015)

* Add a release note for the static_transform_publisher args.

Signed-off-by: Chris Lalancette <[email protected]>

source/Releases/Release-Humble-Hawksbill.rst

@@ -303,6 +303,23 @@ The previous enumerators are still available, but are now deprecated and will pr
 All code that uses the ``TF2Error`` enumerator should be updated to use the new ``TF2`` prefixed errors.
 See https://github.com/ros2/geometry2/pull/349 for more details.
 
+More intuitive command-line arguments for static_transform_publisher
+""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""
+
+The ``static_transform_publisher`` program used to take arguments like: ``ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 1 foo bar``.
+The first three numbers are the translation x, y, and z, the next 4 are the quaternion x, y, z, and w, and the last two arguments are the parent and child frame IDs.
+While this worked, it had a couple of problems:
+
+* The user had to specify *all* of the arguments, even if only setting one number
+* Reading the command-line to figure out what it was publishing was tricky
+
+To fix both of these issues, the command-line handling has been changed to use flags instead, and all flags except for ``--frame-id`` and ``--child-frame-id`` are optional.
+Thus, the above command-line can be simplified to: ``ros2 run tf2_ros static_transform_publisher --frame-id foo --child-frame-id bar``
+To change just the translation x, the command-line would be: ``ros2 run tf2_ros static_transform_publisher --x 1.5 --frame-id foo --child-frame-id bar``.
+
+The old-style arguments are still allowed in this release, but are deprecated and will print a warning.
+They will be removed in future releases.
+See https://github.com/ros2/geometry2/pull/392 for more details.
 
 Known Issues
 ------------

source/Tutorials/Tf2/Writing-A-Tf2-Static-Broadcaster-Cpp.rst

@@ -421,13 +421,13 @@ In our case, roll/pitch/yaw refers to rotation about the x/y/z-axis, respectivel
 
 .. code-block:: console
 
-   ros2 run tf2_ros static_transform_publisher x y z yaw pitch roll frame_id child_frame_id
+   ros2 run tf2_ros static_transform_publisher --x x --y y --z z --yaw yaw --pitch pitch --roll roll --frame-id frame_id --child-frame-id child_frame_id
 
 Publish a static coordinate transform to tf2 using an x/y/z offset in meters and quaternion.
 
 .. code-block:: console
 
-   ros2 run tf2_ros static_transform_publisher x y z qx qy qz qw frame_id child_frame_id
+   ros2 run tf2_ros static_transform_publisher --x x --y y --z z --qx qx --qy qy --qz qz --qw qw --frame-id frame_id --child-frame-id child_frame_id
 
 ``static_transform_publisher`` is designed both as a command-line tool for manual use, as well as for use within ``launch`` files for setting static transforms. For example:
 
@@ -441,10 +441,12 @@ Publish a static coordinate transform to tf2 using an x/y/z offset in meters and
          Node(
                package='tf2_ros',
                executable='static_transform_publisher',
-               arguments = ['0', '0', '1', '0', '0', '0', 'world', 'mystaticturtle']
+               arguments = ['--x', '0', '--y', '0', '--z', '1', '--yaw', '0', '--pitch', '0', '--roll', '0', '--frame-id', 'world', '--child-frame-id', 'mystaticturtle']
          ),
       ])
 
+Note that all arguments except for ``--frame-id`` and ``--child-frame-id`` are optional; if a particular option isn't specified, then the identity will be assumed.
+
 Summary
 -------
 

source/Tutorials/Tf2/Writing-A-Tf2-Static-Broadcaster-Py.rst

@@ -388,13 +388,13 @@ In our case, roll/pitch/yaw refers to rotation about the x/y/z-axis, respectivel
 
 .. code-block:: console
 
-   ros2 run tf2_ros static_transform_publisher x y z yaw pitch roll frame_id child_frame_id
+   ros2 run tf2_ros static_transform_publisher --x x --y y --z z --yaw yaw --pitch pitch --roll roll --frame-id frame_id --child-frame-id child_frame_id
 
 Publish a static coordinate transform to tf2 using an x/y/z offset in meters and quaternion.
 
 .. code-block:: console
 
-   ros2 run tf2_ros static_transform_publisher x y z qx qy qz qw frame_id child_frame_id
+   ros2 run tf2_ros static_transform_publisher --x x --y y --z z --qx qx --qy qy --qz qz --qw qw --frame-id frame_id --child-frame-id child_frame_id
 
 ``static_transform_publisher`` is designed both as a command-line tool for manual use, as well as for use within ``launch`` files for setting static transforms. For example:
 
@@ -408,10 +408,12 @@ Publish a static coordinate transform to tf2 using an x/y/z offset in meters and
          Node(
                package='tf2_ros',
                executable='static_transform_publisher',
-               arguments = ['0', '0', '1', '0', '0', '0', 'world', 'mystaticturtle']
+               arguments = ['--x', '0', '--y', '0', '--z', '1', '--yaw', '0', '--pitch', '0', '--roll', '0', '--frame-id', 'world', '--child-frame-id', 'mystaticturtle']
          ),
       ])
 
+Note that all arguments except for ``--frame-id`` and ``--child-frame-id`` are optional; if a particular option isn't specified, then the identity will be assumed.
+
 Summary
 -------