simplified SingleChainPublisher task context ?

[doudou]

ChainPublisher is basically a loop over a list of chains, but it does not seem that it really has a benefit over having a single-chain publisher component. The latter would be significantly simpler, both internally and as an interface, since it would not need to have a dynamic port anymore.

I would be willing to implement this component, provided that you're not against it ... @maltewi ?

[maltewi]

Would be fine for me. To clarify, you'd propose to implement an additional component named SingleChainPublisher? @doudou

[doudou]

Exactly. I'll create a PR. Since I'm using SDF, I've implemented it to support both URDF and SDF.