Passing fixed_frame and target_frame to Convert object. (ros-drivers#330

)
wep21 · Dec 27, 2021 · efc1dcd · efc1dcd
1 parent 3dda34a
commit efc1dcd
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Showing 3 changed files with 7 additions and 3 deletions.
diff --git a/velodyne_pointcloud/config/VLP16-velodyne_convert_node-params.yaml b/velodyne_pointcloud/config/VLP16-velodyne_convert_node-params.yaml
@@ -2,6 +2,8 @@ velodyne_convert_node:
     ros__parameters:
         calibration: VLP16db.yaml
         model: VLP16
+        target_frame: velodyne
+        fixed_frame: velodyne
         min_range: 0.9
         max_range: 130.0
         view_direction: 0.0

diff --git a/velodyne_pointcloud/config/VLP32C-velodyne_convert_node-params.yaml b/velodyne_pointcloud/config/VLP32C-velodyne_convert_node-params.yaml
@@ -2,6 +2,8 @@ velodyne_convert_node:
     ros__parameters:
         calibration: VeloView-VLP-32C.yaml
         model: 32C
+        target_frame: velodyne
+        fixed_frame: velodyne
         min_range: 0.9
         max_range: 200.0
         view_direction: 0.0

diff --git a/velodyne_pointcloud/src/conversions/convert.cpp b/velodyne_pointcloud/src/conversions/convert.cpp
@@ -100,10 +100,10 @@ Convert::Convert(const rclcpp::NodeOptions & options)
   view_width_desc.floating_point_range.push_back(view_width_range);
   double view_width = this->declare_parameter("view_width", 2.0 * M_PI, view_width_desc);
 
-  bool organize_cloud = this->declare_parameter("organize_cloud", true);
+  bool organize_cloud = this->declare_parameter("organize_cloud", false);
 
-  std::string target_frame = this->declare_parameter("target_frame", "");
-  std::string fixed_frame = this->declare_parameter("fixed_frame", "");
+  std::string target_frame = this->declare_parameter("target_frame", "velodyne");
+  std::string fixed_frame = this->declare_parameter("fixed_frame", "velodyne");
 
   RCLCPP_INFO(this->get_logger(), "correction angles: %s", calibration_file.c_str());