Feature/add tf publisher #63
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| @@ -198,7 +203,21 @@ protected void init(NodeMainExecutor nodeMainExecutor) { | |||
| manager.requestPermission(device, mUsbPermissionIntent); | |||
| } | |||
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| // Attempt a connection to ROS master | |||
| checkRosMasterConenction(); | |||
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nit: checkRosMasterConnection
| /** | ||
| * Node that publishes a specified set of transforms between frames at a given rate to /tf. | ||
| */ | ||
| public class ExtrinsicsPublisherNode extends AbstractNodeMain { |
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Maybe rename: ExtrinsicsTfPublisherNode?
| Time time = Time.fromMillis(System.currentTimeMillis()); | ||
| for (TransformStamped tfs : tfsList) { | ||
| Header header = tfs.getHeader(); | ||
| header.setStamp(time); |
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Can it be done with one line: tfs.getHeader().setStamp(time) ?
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Thanks for your review @PerrineAguiar, the comments were addressed. |
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Great work @jubeira , I only left very minor comments, I am totally OK with this.
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| // map --> odom transformation | ||
| addTransformation( | ||
| new Transform( |
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tiny nit: add a comment i.e.: "using hardcoded position x=5, y=5 assuming a 10x10 empty map" or something like that maybe?
| import org.ros.rosjava_geometry.Transform; | ||
| import org.ros.rosjava_geometry.Vector3; | ||
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| // TODO: these transformations should be configurable with a YAML file or a similar mechanism. |
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add a class comment explaining what this class does.
| import org.ros.rosjava_geometry.Vector3; | ||
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| // TODO: these transformations should be configurable with a YAML file or a similar mechanism. | ||
| public class DefaultRobotTfPublisherNode extends ExtrinsicsTfPublisherNode { |
| ); | ||
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| // device --> base_footprint transformation | ||
| // Taken from tango_extrinsics_publisher; this transformation accounts dock inclination and placement |
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could we remove the reference to this now non-existing custom script and instead add a brief description indicating how this was calculated?
| import tf2_msgs.TFMessage; | ||
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| /** | ||
| * Node that publishes a specified set of transforms between frames at a given rate to /tf. |
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maybe add a TODO (+ issue?) to upstream a contribution like this? (rosjava static TF publisher)
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Thanks for your reviews, comments were addressed. |
This PR adds a node that is able to publish a set of transforms in /tf topic.
The actual transformations to publish are defined in separate classes, which would eventually be removed (the transformations could be configured in a YAML file and the node could read from the Parameter Server what to publish).
If that is a correct step in the future, I will open a ticket for that. The helper scripts may also be removed in the future.
Status indicators for this feature are pending (see #57).