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publish_tf param added - humble #76

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merged 1 commit into from
Aug 31, 2023
Merged

publish_tf param added - humble #76

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1 change: 1 addition & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,7 @@ ros2 service call /map_save std_srvs/Empty
|initial_pose_qy|double|0.0|Quaternion y of the initial pose value|
|initial_pose_qz|double|0.0|Quaternion z of the initial pose value|
|initial_pose_qw|double|1.0|Quaternion w of the initial pose value|
|publish_tf|bool|true|Whether or not to publish tf from global frame to robot frame|
|use_odom|bool|false|whether odom is used or not for initial attitude in point cloud registration|
|use_imu|bool|false|whether 9-axis imu(Angular velocity, acceleration and orientation must be included.) is used or not for point cloud distortion correction.(Note that you must also set the `scan_period`.)|
|debug_flag|bool|false|Whether or not to display the registration information|
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1 change: 1 addition & 0 deletions scanmatcher/include/scanmatcher/scanmatcher_component.h
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Expand Up @@ -146,6 +146,7 @@ namespace graphslam
int num_targeted_cloud_;

bool set_initial_pose_ {false};
bool publish_tf_ {true};
bool use_odom_ {false};
bool use_imu_ {false};
bool debug_flag_ {false};
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25 changes: 15 additions & 10 deletions scanmatcher/src/scanmatcher_component.cpp
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Expand Up @@ -45,7 +45,7 @@ ScanMatcherComponent::ScanMatcherComponent(const rclcpp::NodeOptions & options)
declare_parameter("scan_period", 0.1);
get_parameter("scan_period", scan_period_);
declare_parameter("map_publish_period", 15.0);
get_parameter("map_publish_period", map_publish_period_);
get_parameter("map_publish_period", map_publish_period_);
declare_parameter("num_targeted_cloud", 10);
get_parameter("num_targeted_cloud", num_targeted_cloud_);
if (num_targeted_cloud_ < 1) {
Expand All @@ -70,6 +70,8 @@ ScanMatcherComponent::ScanMatcherComponent(const rclcpp::NodeOptions & options)

declare_parameter("set_initial_pose", false);
get_parameter("set_initial_pose", set_initial_pose_);
declare_parameter("publish_tf", true);
get_parameter("publish_tf", publish_tf_);
declare_parameter("use_odom", false);
get_parameter("use_odom", use_odom_);
declare_parameter("use_imu", false);
Expand All @@ -88,6 +90,7 @@ ScanMatcherComponent::ScanMatcherComponent(const rclcpp::NodeOptions & options)
std::cout << "scan_min_range[m]:" << scan_min_range_ << std::endl;
std::cout << "scan_max_range[m]:" << scan_max_range_ << std::endl;
std::cout << "set_initial_pose:" << std::boolalpha << set_initial_pose_ << std::endl;
std::cout << "publish_tf:" << std::boolalpha << publish_tf_ << std::endl;
std::cout << "use_odom:" << std::boolalpha << use_odom_ << std::endl;
std::cout << "use_imu:" << std::boolalpha << use_imu_ << std::endl;
std::cout << "scan_period[sec]:" << scan_period_ << std::endl;
Expand Down Expand Up @@ -383,15 +386,17 @@ void ScanMatcherComponent::publishMapAndPose(
Eigen::Quaterniond quat_eig(rot_mat);
geometry_msgs::msg::Quaternion quat_msg = tf2::toMsg(quat_eig);

geometry_msgs::msg::TransformStamped transform_stamped;
transform_stamped.header.stamp = stamp;
transform_stamped.header.frame_id = global_frame_id_;
transform_stamped.child_frame_id = robot_frame_id_;
transform_stamped.transform.translation.x = position.x();
transform_stamped.transform.translation.y = position.y();
transform_stamped.transform.translation.z = position.z();
transform_stamped.transform.rotation = quat_msg;
broadcaster_.sendTransform(transform_stamped);
if(publish_tf_){
geometry_msgs::msg::TransformStamped transform_stamped;
transform_stamped.header.stamp = stamp;
transform_stamped.header.frame_id = global_frame_id_;
transform_stamped.child_frame_id = robot_frame_id_;
transform_stamped.transform.translation.x = position.x();
transform_stamped.transform.translation.y = position.y();
transform_stamped.transform.translation.z = position.z();
transform_stamped.transform.rotation = quat_msg;
broadcaster_.sendTransform(transform_stamped);
}

corrent_pose_stamped_.header.stamp = stamp;
corrent_pose_stamped_.pose.position.x = position.x();
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