base_link and base_link_frd are hardcoded - Better to define them using parameters

[mzahana]

Issue details

Can we make the base_link frame_id a parameter instead of having it fixed in this static transform ?

The odom.cpp plugin looks up a transform with respect to thebase_link_frd here

The issues is, when doing multi vehicle simulation, all the vehicles will have the same base_link and base_link_frd with the current implementation. However, they should be unique for each vehicle to have a proper TF tree. That is why I propose to make the base_link a parameter. Then, the FRD frame can be defined by adding _frd post-fix, so it becomes base_link_frame_id+"_frd".

I don't know where to define this parameter so I can propose a PR.

@vooon can you please check?
Thank you.

MAVROS version and platform

Mavros: 2.6.0
ROS: humble
Ubuntu: 22.04

Autopilot type and version

[ ] ArduPilot
[ x ] PX4

Version: 1.14

[mzahana]

@vooon here is my PR #1909 to solve this issue.

[vooon]

Should be fixed now.