add tf2 buffer server

stack.xml

@@ -5,6 +5,7 @@
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/universal_robot</url>
 
+  <depend stack="geometry_experimental" /> 
   <depend stack="robot_model" /> 
   <depend stack="actionlib" /> 
   <depend stack="ros_comm" /> 

ur5_bringup/manifest.xml

@@ -9,6 +9,7 @@
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/ur5_bringup</url>
 
+  <depend package="tf2_ros" />
   <depend package="ur5_driver" />
   <depend package="ur5_description" />
 

ur5_bringup/ur5.launch

@@ -7,4 +7,9 @@
   <!-- driver -->
   <node name="ur5_driver" pkg="ur5_driver" type="driver.py" />
    
+  <!-- TF Buffer Server -->
+  <node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server" output="screen">
+    <param name="buffer_size" value="120.0"/>
+  </node>
+
 </launch>
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