Copter: default topic names

[pedro-fuoco]

The point of this PR is to eliminate some of the remappings necessary to work with this package, as discussed with @Ryanf55.

/tf and /tf_static should receive a ros rep 105 compliant tf tree, in this case, the one coming from robot_state_publisher.
Gazebo's tf tree can be renamed through the ros_gz yaml files instead of using another remap.
/laser/scan was renamed to /scan as this is used by both cartographer and nav2

ArduPilot/ardupilot_ros#14
ArduPilot/ardupilot#24819

[Ryanf55]

@srmainwaring The principle of this makes sense to me, especially robot_state_publisher now being the official source of tf and tf_static. Do you have any thoughts?

[srmainwaring]

Using robot_state_publisher as the system of record for tf makes sense. Using the sdformat_urdf ensures that this is consistent with the model in Gazebo and is not exposed to Gazebo specific rearrangement of the model's links.

Perhaps we could use the prefix gz for Gazebo generated topics rather than gazebo. The former is standard for the new generation Gazebo releases, whereas gazebo refers to the classic version (Gazebo 11 and earlier).

IIRC we introduced the ap prefix to avoid conflicts with other sources of TF:

• In AP_DDS: use /tf instead of /ap/tf ardupilot#24819 we are changing /ap/tf_static to /tf_static, which is published by DDS.
• If robot_state_publisher is intended as the primary source of \tf_static how will that be differentiated from that published by DDS?
• \tf is currently subscribed to by DDS, so no conflict there.

[Ryanf55]

Using robot_state_publisher as the system of record for tf makes sense. Using the sdformat_urdf ensures that this is consistent with the model in Gazebo and is not exposed to Gazebo specific rearrangement of the model's links.

Perhaps we could use the prefix gz for Gazebo generated topics rather than gazebo. The former is standard for the new generation Gazebo releases, whereas gazebo refers to the classic version (Gazebo 11 and earlier).

IIRC we introduced the ap prefix to avoid conflicts with other sources of TF:

• In AP_DDS: use /tf and /tf_static instead of /ap/tf and /ap/tf_static ardupilot#24819 we are changing /ap/tf_static to /tf_static, which is published by DDS.
• If robot_state_publisher is intended as the primary source of \tf_static how will that be differentiated from that published by DDS?
• \tf is currently subscribed to by DDS, so no conflict there.

Yea, seems like we should keep the prefix ap for stuff coming from ArduPilot.

[srmainwaring]

LGTM