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labrobotica
ros
platforms
Pioneer3
rosaria
Commits
672ebca4
Commit
672ebca4
authored
8 years ago
by
Damjan Miklic
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Remove deprecated tf_prefix. Add parameters for all frame_ids.
parent
2f57d0e4
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RosAria.cpp
+6
-15
6 additions, 15 deletions
RosAria.cpp
with
6 additions
and
15 deletions
RosAria.cpp
+
6
−
15
View file @
672ebca4
...
...
@@ -93,8 +93,7 @@ class RosAriaNode
//for odom->base_link transform
tf
::
TransformBroadcaster
odom_broadcaster
;
geometry_msgs
::
TransformStamped
odom_trans
;
//for resolving tf names.
std
::
string
tf_prefix
;
std
::
string
frame_id_odom
;
std
::
string
frame_id_base_link
;
std
::
string
frame_id_bumper
;
...
...
@@ -289,19 +288,11 @@ RosAriaNode::RosAriaNode(ros::NodeHandle nh) :
// whether to connect to lasers using aria
n
.
param
(
"publish_aria_lasers"
,
publish_aria_lasers
,
false
);
// Figure out what frame_id's to use. if a tf_prefix param is specified,
// it will be added to the beginning of the frame_ids.
//
// e.g. rosrun ... _tf_prefix:=MyRobot (or equivalently using <param>s in
// roslaunch files)
// will result in the frame_ids being set to /MyRobot/odom etc,
// rather than /odom. This is useful for Multi Robot Systems.
// See ROS Wiki for further details.
tf_prefix
=
tf
::
getPrefixParam
(
n
);
frame_id_odom
=
tf
::
resolve
(
tf_prefix
,
"odom"
);
frame_id_base_link
=
tf
::
resolve
(
tf_prefix
,
"base_link"
);
frame_id_bumper
=
tf
::
resolve
(
tf_prefix
,
"bumpers_frame"
);
frame_id_sonar
=
tf
::
resolve
(
tf_prefix
,
"sonar_frame"
);
// Get frame_ids to use.
n
.
param
(
"odom_frame"
,
frame_id_odom
,
std
::
string
(
"odom"
));
n
.
param
(
"base_link_frame"
,
frame_id_base_link
,
std
::
string
(
"base_link"
));
n
.
param
(
"bumpers_frame"
,
frame_id_bumper
,
std
::
string
(
"bumpers"
));
n
.
param
(
"sonar_frame"
,
frame_id_sonar
,
std
::
string
(
"sonar"
));
// advertise services for data topics
// second argument to advertise() is queue size.
...
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