From 0aacabf40fd919b1ae4d6b02b90e47eaf7c247f4 Mon Sep 17 00:00:00 2001
From: jorgenfj <jorgfje@stud.ntnu.no>
Date: Tue, 16 Apr 2024 13:39:47 +0200
Subject: [PATCH] flipped tf. renamed seapath

---
 asv_setup/launch/tf.launch.py | 36 ++++++-----------------------------
 1 file changed, 6 insertions(+), 30 deletions(-)

diff --git a/asv_setup/launch/tf.launch.py b/asv_setup/launch/tf.launch.py
index 401c1911..476e5fbc 100644
--- a/asv_setup/launch/tf.launch.py
+++ b/asv_setup/launch/tf.launch.py
@@ -2,32 +2,10 @@
 
 from launch import LaunchDescription
 from launch_ros.actions import Node
-from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSDurabilityPolicy, QoSHistoryPolicy
-from launch.actions import ExecuteProcess
 
 
 def generate_launch_description():
-    # command line arguments to get desired QoS settings
-    echo_tf_static = ExecuteProcess(
-        cmd=['ros2', 'topic', 'echo', '--qos-durability', 'transient_local', '--qos-reliability', 'reliable', '/tf_static'],
-        output='screen'
-    )
-
-    # base_link (NED) to base_link (SEU) tf.
-    tf_base_link_ned_to_base_link_seu = Node(
-        package='tf2_ros',
-        name='base_link_ned_to_base_link_seu',
-        executable='static_transform_publisher',
-        arguments=['--x'              , '0',
-                   '--y'              , '0',
-                   '--z'              , '0',
-                   '--roll'           , '0',
-                   '--pitch'          , str(math.pi),
-                   '--yaw'            , '0',
-                   '--frame-id'       , 'base_link',
-                   '--child-frame-id' , 'base_link_SEU'],
-    )
-
+    # base_link to os_lidar tf.
     tf_base_link_to_lidar = Node(
         package='tf2_ros',
         name='base_link_to_lidar',
@@ -57,8 +35,8 @@ def generate_launch_description():
                    '--child-frame-id' , 'zed2i_camera_center'],
     )
 
-    # base_link (NED) to seapath_frame (NED?) tf.
-    tf_base_link_ned_to_seapath_frame = Node(
+    # base_link (NED) to seapath_frame (NED) tf.
+    tf_base_link_to_seapath = Node(
         package='tf2_ros',
         name='base_link_ned_to_seapath_frame',
         executable='static_transform_publisher',
@@ -68,14 +46,12 @@ def generate_launch_description():
                    '--roll'           , '0',
                    '--pitch'          , '0',
                    '--yaw'            , '0',
-                   '--frame-id'       , 'base_link',
-                   '--child-frame-id' , 'seapath_frame'],
+                   '--frame-id'       , 'seapath',
+                   '--child-frame-id' , 'base_link'],
     )
 
     return LaunchDescription([
-        tf_base_link_ned_to_base_link_seu,
         tf_base_link_to_lidar,
         tf_base_link_to_zed2_camera_center,
-        tf_base_link_ned_to_seapath_frame,
-        echo_tf_static
+        tf_base_link_to_seapath,
     ])