Add publish_tf rosparam functionality and updated launch file accordingly #154
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Pulling in changes from main repo
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This also addresses issue #148 . @elisabethwelburn this is the code you'll want. |
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Hey thanks for doing this if only everyone on the internet was as helpful as you ! :-) I found a solution that also works for the original fiducial_slam code is to set the tf_publish_interval to 0 as well :) |
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I don't think that solves the entire issue. Setting tf_publish_interval to
0 only stops the re-publishing of the last known post transform. If
fiducial_slam detects a new fiducial it will publish the new tf. This is
line 494 or so, the call to publishTf().
…On Tue, Feb 19, 2019 at 10:06 AM elisabethwelburn ***@***.***> wrote:
Hey thanks for doing this if only everyone on the internet was as helpful
as you ! :-) I found a solution that also works for the original
fiducial_slam code is to set the tf_publish_interval to 0 as well :)
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Thats a good point but my understanding is that it doesn't register the new fidcials if you set it as a read only map so all fiducials are pre-defined within the global frame upon starting up the ROS node? If it's performing SLAM as well then sure it'll mess up your tfs |
fiducial_slam/src/map.cpp
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| @@ -195,6 +195,7 @@ Map::Map(ros::NodeHandle &nh) : tfBuffer(ros::Duration(30.0)){ | |||
| nh.param<std::string>("base_frame", baseFrame, "base_link"); | |||
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| nh.param<float>("tf_publish_interval", tfPublishInterval, 1.0); | |||
| nh.param<bool>("publish_tf", publishPoseTf, false); | |||
fiducial_slam/src/map.cpp
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| publishTf(); | ||
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| if (publishPoseTf) | ||
| { |
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nit: Move the brace to the end of the previous line for if statements
| @@ -511,7 +516,7 @@ void Map::publishTf() | |||
| void Map::update() | |||
| { | |||
| ros::Time now = ros::Time::now(); | |||
| if (havePose && tfPublishInterval != 0.0 && | |||
| if (publishPoseTf && havePose && tfPublishInterval != 0.0 && | |||
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Is the tf publish interval check redundant here?
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Almost but not exactly. The tfPublishInterval is used when you want fiducial_slam to re-publish the TF when a fiducial isn't detected. For example, you may want TF's to be published only when a fiducial is detected so you'd set publishPoseTf=True and tfPublishInterval=0.0.
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@rohbotics Need anything else to keep the ball rolling?
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Thanks for your contribution, I found the same bug again and remembered this PR. Sorry for the making you wait so long. |
-adds check on rosparam publish_tf when publishing rosparam pose
-updated fiducial_slam.launch to include publish_tf and tf_publish_interval