updated tf_connector

ctu-mrs · Nov 13, 2023 · ff654db · ff654db
1 parent b4c510d
commit ff654db
Show file tree

Hide file tree

Showing 8 changed files with 473 additions and 523 deletions.
diff --git a/tf_connector/CMakeLists.txt b/tf_connector/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(tf_connector)
+project(mrs_tf_connector)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -21,7 +21,7 @@ find_package(catkin REQUIRED COMPONENTS
   )
 
 set(LIBRARIES
-  MrsUtils_TFConnector
+  MrsUtils_MRSTFConnector
   )
 
 catkin_package(
@@ -34,15 +34,15 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
   )
 
-add_library(MrsUtils_TFConnector
+add_library(MrsUtils_MRSTFConnector
   src/tf_connector.cpp
   )
 
-add_dependencies(MrsUtils_TFConnector
+add_dependencies(MrsUtils_MRSTFConnector
   ${catkin_EXPORTED_TARGETS}
   )
 
-target_link_libraries(MrsUtils_TFConnector
+target_link_libraries(MrsUtils_MRSTFConnector
   ${LIBS}
   ${catkin_LIBRARIES}
   )

diff --git a/tf_connector/README.md b/tf_connector/README.md
@@ -21,7 +21,7 @@ The frame IDs `uav1/gps_origin` and `uav2/gps_origin` are the **equal frame IDs*
 The trees will be connected through a **common frame ID** called `common_origin` (it's name doesn't matter much, just make sure that it doesn't overlap with any existing frame IDs) through transforms from the **root frames**.
 These transforms will be calculated and automatically updated by the *TF connector* so that the **equal frames** always correspond to the same frame.
 
-You can test this by spawning two UAVs in the [MRS simulation](https://github.com/ctu-mrs/mrs_simulation) called UAV1 and UAV2 and running `roslaunch tf_connector tf_connector.launch`.
+You can test this by spawning two UAVs in the [MRS simulation](https://github.com/ctu-mrs/mrs_simulation) called UAV1 and UAV2 and running `roslaunch mrs_tf_connector tf_connector.launch`.
 
 ## Advanced functionality
 

diff --git a/tf_connector/config/tf_connector.yaml b/tf_connector/config/tf_connector.yaml
@@ -1,14 +1,13 @@
 # the connecting root frame will be named like this
-connecting_frame_id:
-  "common_origin"
+connecting_frame_id: "common_origin"
 
 # these are the tf subtrees to be connected through the respective root frames so that the equal frames are equal
 connections:
   - root_frame_id: "uav1/fcu"
-    equal_frame_id: "uav1/gps_origin"
+    equal_frame_id: "uav1/world_origin"
 
   - root_frame_id: "uav2/fcu"
-    equal_frame_id: "uav2/gps_origin"
+    equal_frame_id: "uav2/world_origin"
 
   # you can add further connections here:
   # - root_frame_id: "another_root"

diff --git a/tf_connector/config/tf_connector_offsets.yaml b/tf_connector/config/tf_connector_offsets.yaml
@@ -1,11 +1,10 @@
 # the connecting root frame will be named like this
-connecting_frame_id:
-  "common_origin"
+connecting_frame_id: "common_origin"
 
 # these are the tf subtrees to be connected through the respective root frames so that the equal frames are equal
 connections:
   - root_frame_id: "uav1/fcu"
-    equal_frame_id: "uav1/gps_origin"
+    equal_frame_id: "uav1/world_origin"
 
     # optionally, you can also specify offsets to be applied to the resulting transformation (e.g. to compensate GPS drift)
     offsets:
@@ -22,7 +21,7 @@ connections:
         ]
 
   - root_frame_id: "uav2/fcu"
-    equal_frame_id: "uav2/gps_origin"
+    equal_frame_id: "uav2/world_origin"
 
 # if true, older messages than the last update of the respective frame connection will be ignored
 ignore_older_messages: false

diff --git a/tf_connector/launch/tf_connector.launch b/tf_connector/launch/tf_connector.launch
@@ -13,9 +13,9 @@
   <arg     if="$(arg debug)" name="launch_prefix" value="debug_roslaunch" />
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
 
-  <node pkg="nodelet" type="nodelet" name="tf_connector" args="$(arg nodelet) tf_connector/TFConnector $(arg nodelet_manager)" output="screen" launch-prefix="$(arg launch_prefix)">
+  <node pkg="nodelet" type="nodelet" name="tf_connector" args="$(arg nodelet) mrs_tf_connector/TFConnector $(arg nodelet_manager)" output="screen" launch-prefix="$(arg launch_prefix)">
 
-    <rosparam unless="$(eval not arg('custom_config') == '')" file="$(find tf_connector)/config/tf_connector_offsets.yaml" />
+    <rosparam unless="$(eval not arg('custom_config') == '')" file="$(find mrs_tf_connector)/config/tf_connector_offsets.yaml" />
 
     <!-- Load a user param file -->
     <rosparam if="$(eval not arg('custom_config') == '')" file="$(arg custom_config)" />

diff --git a/tf_connector/nodelets.xml b/tf_connector/nodelets.xml
@@ -1,5 +1,5 @@
-<library path="lib/libMrsUtils_TFConnector">
-  <class name="tf_connector/TFConnector" type="tf_connector::TFConnector" base_class_type="nodelet::Nodelet">
+<library path="lib/libMrsUtils_MRSTFConnector">
+  <class name="mrs_tf_connector/TFConnector" type="mrs_tf_connector::TFConnector" base_class_type="nodelet::Nodelet">
     <description>TFConnector nodelet</description>
   </class>
 </library>
diff --git a/tf_connector/package.xml b/tf_connector/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
 
-  <name>tf_connector</name>
+  <name>mrs_tf_connector</name>
   <version>1.0.0</version>
   <description>A package for connecting two transform trees via root frames</description>