Define parameters for the frame names of the static transforms #1909
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Please, any chance to port this to ROS Noetic? |
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@mzahana Is there any chance to port this to ROS Noetic? I am using noetic and I have the same issue with using unique frames in multi-uav simulation. |
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This PR solves the issue of duplicate (non unique) static transforms when mavros is used in multi-vehicle SITL setup.
Before this PR, it was not possible to have a proper TF tree where each vehicle has its unique base_link(base_link_frd and odom (odome_ned) frames as it was hard-coded in
mavros_uasnode. Also theodomplugin would keep throwing an error because of disconnected trees.With this PR, the user can define the statice transform frames (base_link, odom, map) as node parameters of the
mavros_nodewhich is the passed to themavros_uasnode. In addition, theodomplugin is modified to infer the_frdframes directly from the odom/map base_link (or simply the parent and the child frames)m which are defined in the config.yaml file.With this PR, I am able to have a proper and connected trees in multi-vehicle simulation.