/
transform_manager.yaml
150 lines (129 loc) · 9.63 KB
/
transform_manager.yaml
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mrs_uav_managers:
transform_manager:
local_origin_tf:
enabled: true # local_origin tf should be published by default unless some other node already publishes it
parent: "fcu" # fcu should be the parent if using the default inverted mrs tf tree convention with fcu as the root of the tf tree
child: "local_origin"
stable_origin_tf:
enabled: true # stable_origin tf should be published by default unless some other node already publishes it
parent: "fcu" # fcu should be the parent if using the default inverted mrs tf tree convention with fcu as the root of the tf tree
child: "stable_origin"
fixed_origin_tf:
enabled: true # fixed_origin tf should be published by default unless some other node already publishes it
parent: "fcu" # fcu should be the parent if using the default inverted mrs tf tree convention with fcu as the root of the tf tree
child: "fixed_origin"
utm_origin_tf:
enabled: true # utm_origin tf should be published by default unless some other node already publishes it
parent: "fcu" # fcu should be the parent if using the default inverted mrs tf tree convention with fcu as the root of the tf tree
child: "utm_origin"
world_origin_tf:
enabled: true # world_origin tf should be published by default unless some other node already publishes it
parent: "fcu" # fcu should be the parent if using the default inverted mrs tf tree convention with fcu as the root of the tf tree
child: "world_origin"
fcu_untilted_tf:
enabled: true # fcu_untilted tf should be published by default unless some other node already publishes it
parent: "fcu" # fcu should be the parent if using the default inverted mrs tf tree convention with fcu as the root of the tf tree
child: "fcu_untilted"
mapping_origin_tf:
enabled: true
debug_prints: false
lateral_topic: "slam/odom" # name of the topic used for x, y components of the tf (expects nav_msgs/Odometry topic type)
altitude_topic: "slam/odom" # name of the topic used for z components of the tf (expects nav_msgs/Odometry topic type)
orientation_topic: "hw_api/orientation" # name of the topic used for orientation components of the tf (expects geometry_msgs/Quaternion topic type)
inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
custom_frame_id:
enabled: true
frame_id: "mapping_origin"
# the list of additional source topics from which the tfs will be constructed
tf_sources: []
# first available tf source from this list will produce the utm and world origin tfs
utm_source_priority: ["ground_truth", "rtk", "gps_garmin", "gps_baro"]
# configuration of individual tf sources
hw_api_raw:
odom_topic: "odometry" # name of the topic (expects nav_msgs/Odometry topic type)
tf_from_attitude: # used for transforming velocities before full transform is available
enabled: false
namespace: "hw_api" # the namespace of the topic (usually the node that publishes the topic)
utm_based: false # if true, will publish tf to utm_origin
inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames
gps_garmin:
odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
tf_from_attitude: # used for transforming velocities before full transform is available
enabled: true
attitude_topic: "attitude" # name of the attitude topic(expects geometry_msgs/QuaternionStamped topic type)
namespace: "estimation_manager/gps_garmin" # the namespace of the topic (usually the node that publishes the topic)
utm_based: true # if true, will publish tf to utm_origin
inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
# republish_in_frames: ["local_origin", "world_origin"] # the odometry message will be transformed and republished in the specified frames
republish_in_frames: ["local_origin"] # the odometry message will be transformed and republished in the specified frames
gps_baro:
odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
tf_from_attitude: # used for transforming velocities before full transform is available
enabled: true
attitude_topic: "attitude" # name of the attitude topic(expects geometry_msgs/QuaternionStamped topic type)
namespace: "estimation_manager/gps_baro" # the namespace of the topic (usually the node that publishes the topic)
utm_based: true # if true, will publish tf to utm_origin
inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames
rtk:
odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
tf_from_attitude: # used for transforming velocities before full transform is available
enabled: true
attitude_topic: "attitude" # name of the attitude topic(expects geometry_msgs/QuaternionStamped topic type)
namespace: "estimation_manager/rtk" # the namespace of the topic (usually the node that publishes the topic)
utm_based: true # if true, will publish tf to utm_origin
inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames
rtk_garmin:
odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
tf_from_attitude: # used for transforming velocities before full transform is available
enabled: true
attitude_topic: "attitude" # name of the attitude topic(expects geometry_msgs/QuaternionStamped topic type)
namespace: "estimation_manager/rtk_garmin" # the namespace of the topic (usually the node that publishes the topic)
utm_based: true # if true, will publish tf to utm_origin
inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames
aloam:
odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
tf_from_attitude: # used for transforming velocities before full transform is available
enabled: true
attitude_topic: "attitude" # name of the attitude topic(expects geometry_msgs/QuaternionStamped topic type)
namespace: "estimation_manager/aloam" # the namespace of the topic (usually the node that publishes the topic)
utm_based: false # if true, will publish tf to utm_origin
inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames
hector_garmin:
odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
tf_from_attitude: # used for transforming velocities before full transform is available
enabled: true
attitude_topic: "attitude" # name of the attitude topic(expects geometry_msgs/QuaternionStamped topic type)
namespace: "estimation_manager/hector_garmin" # the namespace of the topic (usually the node that publishes the topic)
utm_based: false # if true, will publish tf to utm_origin
inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames
vio:
odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
tf_from_attitude: # used for transforming velocities before full transform is available
enabled: true
attitude_topic: "attitude" # name of the attitude topic(expects geometry_msgs/QuaternionStamped topic type)
namespace: "estimation_manager/vio" # the namespace of the topic (usually the node that publishes the topic)
utm_based: false # if true, will publish tf to utm_origin
inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames
passthrough:
odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
tf_from_attitude: # used for transforming velocities before full transform is available
enabled: false
namespace: "estimation_manager/passthrough" # the namespace of the topic (usually the node that publishes the topic)
utm_based: false # if true, will publish tf to utm_origin
inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
republish_in_frames: ["local_origin"] # the odometry message will be transformed and republished in the specified frames
ground_truth:
odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
tf_from_attitude: # used for transforming velocities before full transform is available
enabled: false
namespace: "estimation_manager/ground_truth" # the namespace of the topic (usually the node that publishes the topic)
utm_based: true # if true, will publish tf to utm_origin
inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
republish_in_frames: ["local_origin"] # the odometry message will be transformed and republished in the specified frames