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Inverse tf #180

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merged 3 commits into from
Apr 20, 2024
Merged

Inverse tf #180

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0aacabf
flipped tf. renamed seapath
jorgenfj Apr 16, 2024
6883fd3
fixed lidar and zed tf
jorgenfj Apr 20, 2024
be68ad3
Merge branch 'development' into inverse-tf
EirikKolas Apr 20, 2024
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50 changes: 13 additions & 37 deletions asv_setup/launch/tf.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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',
Expand All @@ -37,15 +15,15 @@ def generate_launch_description():
'--z' , '-0.392425',
'--roll' , str(math.pi),
'--pitch' , '0',
'--yaw' , '0',
'--yaw' , str(math.pi),
'--frame-id' , 'base_link',
'--child-frame-id' , 'os_lidar'],
'--child-frame-id' , 'os_sensor'],
)

# base_link to zed2i_camera_center tf.
tf_base_link_to_zed2_camera_center = Node(
# base_link to zed_camera_link tf.
tf_base_link_to_zed_camera_link = Node(
package='tf2_ros',
name='base_link_to_zed2_camera_center',
name='base_link_to_zed_camera_link',
executable='static_transform_publisher',
arguments=['--x' , '0.3005',
'--y' , '0',
Expand All @@ -54,11 +32,11 @@ def generate_launch_description():
'--pitch' , '0',
'--yaw' , '0',
'--frame-id' , 'base_link',
'--child-frame-id' , 'zed2i_camera_center'],
'--child-frame-id' , 'zed_camera_link'],
)

# 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',
Expand All @@ -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_zed_camera_link,
tf_base_link_to_seapath,
])
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