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The ROS package agni_tf_tools provides some tools facilitating the definition of (static) ROS tf transforms.

First of all, it provides some extensions to rviz:

• An EulerProperty class allowing for the definition of arbitrary sets of Euler angles (and conversion between them).
• A RotationProperty class combining EulerProperty and QuaternionProperty to provide flexible means of entering orientation information.
• An interactive transform publisher as an rviz::Display plugin allowing you to define your transforms with an rviz interactive marker. You can use this also, to interactively perform frame transformations. See here for more details.

Furthermore, it provides two cmdline utilities:

• static_transform_publisher is an adapted version of tf2_ros's source code, providing more fine-grained command-line options to define orientations from an arbitrary set of Euler angles.

• static_transform_publisher_gui is an interactive version of the static_transform_publisher allowing you to modify the transform interactively.