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canTransform argument target_frame in tf2 frame_ids cannot start with… #810

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Sep 13, 2020
Merged

canTransform argument target_frame in tf2 frame_ids cannot start with… #810

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2 changes: 1 addition & 1 deletion cob_hardware_config/robots/cob4/config/base_laser_front.yaml
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Expand Up @@ -4,6 +4,6 @@ scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable a
scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
inverted: false
scan_id: 7
frame_id: /base_laser_front_link
frame_id: base_laser_front_link
publish_frequency: 12
scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
2 changes: 1 addition & 1 deletion cob_hardware_config/robots/cob4/config/base_laser_left.yaml
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Expand Up @@ -4,6 +4,6 @@ scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable a
scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
inverted: false
scan_id: 7
frame_id: /base_laser_left_link
frame_id: base_laser_left_link
publish_frequency: 12
scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
2 changes: 1 addition & 1 deletion cob_hardware_config/robots/cob4/config/base_laser_right.yaml
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Expand Up @@ -4,6 +4,6 @@ scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable a
scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
inverted: false
scan_id: 8
frame_id: /base_laser_right_link
frame_id: base_laser_right_link
publish_frequency: 12
scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
4 changes: 2 additions & 2 deletions cob_hardware_config/robots/cob4/config/cob4_base_controller.yaml
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Expand Up @@ -36,8 +36,8 @@ twist_controller:
odometry_controller:
type: cob_omni_drive_controller/OdometryController
publish_rate: 50
frame_id: "/odom_combined"
child_frame_id: "/base_footprint"
frame_id: "odom_combined"
child_frame_id: "base_footprint"
cov_pose: 0.1
cov_twist: 0.1
wheels: *wheels
4 changes: 2 additions & 2 deletions cob_hardware_config/robots/cob4/config/footprint_observer_params.yaml
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Expand Up @@ -2,7 +2,7 @@
footprint_source: /local_costmap_node/costmap

#
robot_base_frame: /base_link
robot_base_frame: base_link
# frames to check for footprint adjustment
frames_to_check: /base_laser_front_link /base_laser_left_link /base_laser_right_link
frames_to_check: base_laser_front_link base_laser_left_link base_laser_right_link
epsilon: 0.01
2 changes: 1 addition & 1 deletion cob_hardware_config/robots/cob4/config/light_base.yaml
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Expand Up @@ -4,6 +4,6 @@ baudrate: 38400
num_leds: 3
invert_output: false
pubmarker: true
marker_frame: /base_link # marker will be publised at [0.5,0,0] with respect to marker_frame
marker_frame: base_link # marker will be publised at [0.5,0,0] with respect to marker_frame
startup_color: [0.0, 1.0, 0.5, 0.4] #rgba value
startup_mode: Static #possible values: None, Static, Breath, BreathColor, Flash, FadeColor
2 changes: 1 addition & 1 deletion cob_hardware_config/robots/raw3-1/config/cameras/parameters_left.yaml
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Expand Up @@ -7,7 +7,7 @@ auto_gain: False
#gain_auto_target: 40
gain: 10
auto_whitebalance: True
frame_id: /head_color_camera_l_link
frame_id: head_color_camera_l_link
stream_bytes_per_second: 55000000 #17500000 full speed in stereo rig: 55000000
#auto_adjust_stream_bytes_per_second: False
trigger_mode: streaming
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2 changes: 1 addition & 1 deletion cob_hardware_config/robots/raw3-1/config/cameras/parameters_right.yaml
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Expand Up @@ -6,7 +6,7 @@ auto_gain: False
#gain_auto_target: 40
gain: 3
auto_whitebalance: True
frame_id: /head_color_camera_r_link
frame_id: head_color_camera_r_link
stream_bytes_per_second: 124000000
auto_adjust_stream_bytes_per_second: False
trigger_mode: streaming
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2 changes: 1 addition & 1 deletion cob_hardware_config/robots/raw3-1/config/footprint_observer_params.yaml
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Expand Up @@ -2,7 +2,7 @@
footprint_source: /local_costmap_node/costmap

#
robot_base_frame: /base_link
robot_base_frame: base_link
# frames to check for footprint adjustment
frames_to_check: /arm_forearm_link /arm_wrist_1_link /arm_wrist_2_link /arm_wrist_3_link /arm_ee_link
epsilon: 0.01
2 changes: 1 addition & 1 deletion cob_hardware_config/robots/raw3-1/config/light.yaml
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Expand Up @@ -4,6 +4,6 @@ baudrate: 38400
num_leds: 58
invert_output: false
pubmarker: false
marker_frame: /base_link # marker will be publised at [0.5,0,0] with respect to marker_frame
marker_frame: base_link # marker will be publised at [0.5,0,0] with respect to marker_frame
startup_color: [0.0, 1.0, 0.0, 1.0] #rgba value
startup_mode: Static #possible values: None, Static, Breath, BreathColor, Flash...
4 changes: 2 additions & 2 deletions cob_hardware_config/robots/raw3-1/config/local_costmap_params.yaml
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@@ -1,6 +1,6 @@
# global information
global_frame: /base_link
robot_base_frame: /base_footprint
global_frame: base_link
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 5.0

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2 changes: 1 addition & 1 deletion cob_hardware_config/robots/raw3-3/config/footprint_observer_params.yaml
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Expand Up @@ -2,5 +2,5 @@
footprint_source: /local_costmap_node/costmap

#
robot_base_frame: /base_link
robot_base_frame: base_link
epsilon: 0.01
2 changes: 1 addition & 1 deletion cob_hardware_config/robots/raw3-3/config/light.yaml
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Expand Up @@ -3,6 +3,6 @@ devicestring: /dev/ttyLED
baudrate: 38400
invert_output: false
pubmarker: false
marker_frame: /base_link # marker will be publised at [0.5,0,0] with respect to marker_frame
marker_frame: base_link # marker will be publised at [0.5,0,0] with respect to marker_frame
startup_color: [0.0, 1.0, 0.0, 1.0] #rgba value
startup_mode: Static #possible values: None, Static, Breath, BreathColor, Flash...
4 changes: 2 additions & 2 deletions cob_hardware_config/robots/raw3-3/config/local_costmap_params.yaml
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@@ -1,6 +1,6 @@
# global information
global_frame: /base_link
robot_base_frame: /base_footprint
global_frame: base_link
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 5.0

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4 changes: 2 additions & 2 deletions cob_hardware_config/robots/raw3-5/config/footprint_observer_params.yaml
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Expand Up @@ -2,9 +2,9 @@
footprint_source: /local_costmap_node/costmap

#
robot_base_frame: /base_link
robot_base_frame: base_link
# wait until tf from robot_base_frame to farthest_frame is available
farthest_frame: /base_link
farthest_frame: base_link
# frames to check for footprint adjustment
#frames_to_check: /arm_forearm_link /arm_wrist_1_link /arm_wrist_2_link /arm_wrist_3_link /arm_ee_link
epsilon: 0.01
4 changes: 2 additions & 2 deletions cob_hardware_config/robots/raw3-5/config/local_costmap_params.yaml
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@@ -1,6 +1,6 @@
# global information
global_frame: /base_link
robot_base_frame: /base_footprint
global_frame: base_link
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 5.0

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4 changes: 2 additions & 2 deletions cob_hardware_config/robots/raw3/config/raw3_base_controller.yaml
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Expand Up @@ -41,8 +41,8 @@ twist_controller:
odometry_controller:
type: cob_omni_drive_controller/OdometryController
publish_rate: 50
frame_id: "/odom_combined"
child_frame_id: "/base_footprint"
frame_id: "odom_combined"
child_frame_id: "base_footprint"
cov_pose: 0.1
cov_twist: 0.1
defaults: # default settings for all wheels, can per overwritten per wheel
Expand Down