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pose_to_tf_publisher.launch
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pose_to_tf_publisher.launch
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="initial_pose_in_base_to_map" default="true" />
<arg name="initial_x" default="0.0" />
<arg name="initial_y" default="0.0" />
<arg name="initial_z" default="0.0" />
<arg name="initial_roll" default="0.0" />
<arg name="initial_pitch" default="0.0" />
<arg name="initial_yaw" default="0.0" />
<arg name="pose_with_covariance_stamped_topic" default="/initialpose" />
<arg name="pose_stamped_topic" default="" />
<arg name="odometry_topic" default="" />
<arg name="tf_topic" default="/tf" />
<arg name="float_topic" default="" />
<arg name="float_update_field_orientation_in_degrees" default="false" />
<arg name="float_update_field" default="" />
<arg name="poses_filename" default="" />
<arg name="map_frame_id" default="map" />
<arg name="odom_frame_id" default="odom" /> <!-- if empty, tfs will be published from [ map_frame_id -> base_link_frame_id ] directly (instead of [ map_frame_id -> odom_frame_id ]) -->
<arg name="base_link_frame_id" default="base_footprint" />
<!-- The next two frames allow to grab transforms from /tf topic and republish then (in [ map_frame_id -> base_link_frame_id ]) with a given time offset (useful to synchronize ground truth time stamps) -->
<arg name="transform_tf_message_source" default="" />
<arg name="transform_tf_message_target" default="" />
<arg name="publish_rate" default="30.0" /> <!-- if negative, publishes TFs when receives a new pose | if positive it publishes tfs at a constant rate (even if poses arrive with variable rates) -->
<arg name="publish_initial_pose" default="true" />
<arg name="publish_last_pose_tf_timeout_seconds" default="-1.0" /> <!-- if negative, keeps publishing TF forever -->
<arg name="tf_lookup_timeout" default="0.5" />
<arg name="tf_time_offset" default="0.0" />
<arg name="invert_tf_transform" default="false" />
<arg name="invert_tf_hierarchy" default="false" />
<arg name="transform_pose_to_map_frame_id" default="true" />
<arg name="discard_older_poses" default="true" />
<arg name="parameters_namespace" default="pose_to_tf_publisher" />
<arg name="nodes_respawn" default="true" />
<arg name="node_name" default="$(anon pose_to_tf_publisher_node)" />
<node pkg="pose_to_tf_publisher" type="pose_to_tf_publisher_node" name="$(arg node_name)" respawn="$(arg nodes_respawn)" clear_params="true" ns="$(arg parameters_namespace)" output="screen" >
<param name="publish_rate" type="double" value="$(arg publish_rate)" />
<param name="publish_last_pose_tf_timeout_seconds" type="double" value="$(arg publish_last_pose_tf_timeout_seconds)" /> <!-- if < 0 last pose received will be published forever with no timeout (until a new pose is received and updates the current publish pose) -->
<param name="tf_lookup_timeout" type="double" value="$(arg tf_lookup_timeout)" />
<param name="tf_time_offset" type="double" value="$(arg tf_time_offset)" />
<param name="pose_with_covariance_stamped_topic" type="str" value="$(arg pose_with_covariance_stamped_topic)" />
<param name="pose_stamped_topic" type="str" value="$(arg pose_stamped_topic)" />
<param name="odometry_topic" type="str" value="$(arg odometry_topic)" />
<param name="float_topic" type="str" value="$(arg float_topic)" />
<param name="float_update_field_orientation_in_degrees" type="bool" value="$(arg float_update_field_orientation_in_degrees)" />
<param name="float_update_field" type="str" value="$(arg float_update_field)" />
<param name="poses_filename" type="str" value="$(arg poses_filename)" />
<param name="map_frame_id" type="str" value="$(arg map_frame_id)" />
<param name="odom_frame_id" type="str" value="$(arg odom_frame_id)" />
<param name="base_link_frame_id" type="str" value="$(arg base_link_frame_id)" />
<param name="transform_tf_message_source" type="str" value="$(arg transform_tf_message_source)" />
<param name="transform_tf_message_target" type="str" value="$(arg transform_tf_message_target)" />
<param name="invert_tf_transform" type="bool" value="$(arg invert_tf_transform)" />
<param name="invert_tf_hierarchy" type="bool" value="$(arg invert_tf_hierarchy)" />
<param name="transform_pose_to_map_frame_id" type="bool" value="$(arg transform_pose_to_map_frame_id)" />
<param name="discard_older_poses" type="bool" value="$(arg discard_older_poses)" />
<param name="publish_initial_pose" type="bool" value="$(arg publish_initial_pose)" />
<param name="initial_pose_in_base_to_map" type="bool" value="$(arg initial_pose_in_base_to_map)" />
<param name="initial_x" type="double" value="$(arg initial_x)" />
<param name="initial_y" type="double" value="$(arg initial_y)" />
<param name="initial_z" type="double" value="$(arg initial_z)" />
<param name="initial_roll" type="double" value="$(arg initial_roll)" />
<param name="initial_pitch" type="double" value="$(arg initial_pitch)" />
<param name="initial_yaw" type="double" value="$(arg initial_yaw)" />
</node>
</launch>