fix(autoware_ekf_localizer): remove timer_tf_ (autowarefoundation#9244

)

Removed timer_tf_

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

localization/autoware_ekf_localizer/config/ekf_localizer.param.yaml

@@ -5,7 +5,6 @@
       enable_yaw_bias_estimation: true
       predict_frequency: 50.0
       tf_rate: 50.0
-      publish_tf: true
       extend_state_step: 50
 
     pose_measurement:

localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp

@@ -99,8 +99,6 @@ class EKFLocalizer : public rclcpp::Node
   //!< @brief trigger_node service
   rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr service_trigger_node_;
 
-  //!< @brief timer to send transform
-  rclcpp::TimerBase::SharedPtr timer_tf_;
   //!< @brief tf broadcaster
   std::shared_ptr<tf2_ros::TransformBroadcaster> tf_br_;
   //!< @brief tf buffer
@@ -131,11 +129,6 @@ class EKFLocalizer : public rclcpp::Node
    */
   void timer_callback();
 
-  /**
-   * @brief publish tf for tf_rate [Hz]
-   */
-  void timer_tf_callback();
-
   /**
    * @brief set pose with covariance measurement
    */

localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp

@@ -31,7 +31,6 @@ class HyperParameters
     ekf_rate(node->declare_parameter<double>("node.predict_frequency")),
     ekf_dt(1.0 / std::max(ekf_rate, 0.1)),
     tf_rate_(node->declare_parameter<double>("node.tf_rate")),
-    publish_tf_(node->declare_parameter<bool>("node.publish_tf")),
     enable_yaw_bias_estimation(node->declare_parameter<bool>("node.enable_yaw_bias_estimation")),
     extend_state_step(node->declare_parameter<int>("node.extend_state_step")),
     pose_frame_id(node->declare_parameter<std::string>("misc.pose_frame_id")),
@@ -76,7 +75,6 @@ class HyperParameters
   const double ekf_rate;
   const double ekf_dt;
   const double tf_rate_;
-  const bool publish_tf_;
   const bool enable_yaw_bias_estimation;
   const size_t extend_state_step;
   const std::string pose_frame_id;

localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json

@@ -20,11 +20,6 @@
           "description": "Frequency for tf broadcasting [Hz]",
           "default": 50.0
         },
-        "publish_tf": {
-          "type": "boolean",
-          "description": "Whether to publish tf",
-          "default": true
-        },
         "extend_state_step": {
           "type": "integer",
           "description": "Max delay step which can be dealt with in EKF. Large number increases computational cost.",
@@ -40,7 +35,6 @@
         "show_debug_info",
         "predict_frequency",
         "tf_rate",
-        "publish_tf",
         "extend_state_step",
         "enable_yaw_bias_estimation"
       ],

localization/autoware_ekf_localizer/src/ekf_localizer.cpp

@@ -61,12 +61,6 @@ EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options)
     this, get_clock(), rclcpp::Duration::from_seconds(ekf_dt_),
     std::bind(&EKFLocalizer::timer_callback, this));
 
-  if (params_.publish_tf_) {
-    timer_tf_ = rclcpp::create_timer(
-      this, get_clock(), rclcpp::Rate(params_.tf_rate_).period(),
-      std::bind(&EKFLocalizer::timer_tf_callback, this));
-  }
-
   pub_pose_ = create_publisher<geometry_msgs::msg::PoseStamped>("ekf_pose", 1);
   pub_pose_cov_ =
     create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>("ekf_pose_with_covariance", 1);
@@ -227,28 +221,6 @@ void EKFLocalizer::timer_callback()
   publish_diagnostics(current_ekf_pose, current_time);
 }
 
-/*
- * timer_tf_callback
- */
-void EKFLocalizer::timer_tf_callback()
-{
-  if (!is_activated_) {
-    return;
-  }
-
-  if (params_.pose_frame_id.empty()) {
-    return;
-  }
-
-  const rclcpp::Time current_time = this->now();
-
-  geometry_msgs::msg::TransformStamped transform_stamped;
-  transform_stamped = autoware::universe_utils::pose2transform(
-    ekf_module_->get_current_pose(current_time, false), "base_link");
-  transform_stamped.header.stamp = current_time;
-  tf_br_->sendTransform(transform_stamped);
-}
-
 /*
  * get_transform_from_tf
  */
@@ -363,6 +335,11 @@ void EKFLocalizer::publish_estimate_result(
   odometry.pose = pose_cov.pose;
   odometry.twist = twist_cov.twist;
   pub_odom_->publish(odometry);
+
+  /* publish tf */
+  const geometry_msgs::msg::TransformStamped transform_stamped =
+    autoware::universe_utils::pose2transform(current_ekf_pose, "base_link");
+  tf_br_->sendTransform(transform_stamped);
 }
 
 void EKFLocalizer::publish_diagnostics(