Publish tf2_py and tf2_ros_py wheels to PyPi

[bertaveira]

Description

Create build wheels for the python packages tf2_py and tf2_ros_py and publish them on PyPi so everyone can use them on any device (supported or not) without ROS. For example, for data analysis there is no way to read rosbags and easely take care of transforms without remaking all the code here manually.

Motivation

I have had multiple use cases where I was scripting in python reading from ROS MCAP files on a computer that has no ROS installed (like an unsupported macos laptop), and I wanted to take advantage of the tf_buffer class to help me take care of figuring out the right transforms. What I do for this is I read the MCAP and all the topics I care about plus feed the tf_buffer object the transforms. And then I can just lookup the transform from the tf_buffer and it will take care of finding the transform from the tf tree.

However, it is quite hard to get tf2_ros_py working on a system unsupported by ROS since it depends on tf2_py and tf2_py is not pip compatible. I would need to have ROS/Colcon installed and compile it manually and somehow install that package to have something running. Not even sure that would be possible without ROS installed in the system.

I don't see why these 2 packages could not have released wheels on PyPi so people can use the ROS transforms from bag files without remaking the work already made in this repository.

Design / Implementation Considerations

No response

Additional Information

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