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Commit d82b9341 authored by Fernando Herrero's avatar Fernando Herrero
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Add README

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# Description
The iri_dynamic_transform_publisher package broadcasts a tf transform between two frames as defined with dynamic reconfigure parameters.
Useful for dynamically adjust and find a desired static transform, to be replaced once found by a tf/static_transform_publisher node
# Dependencies
This node has the following dependencies:
* [iri_base_algorithm](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_base_algorithm)
* [tf](http://wiki.ros.org/tf)
# Install
This package, as well as all IRI dependencies, can be installed by cloning the
repository inside the active workspace:
```
roscd
cd ../src
git clone <url-to>/iri_dynamic_transform_publisher.git
```
However, this package is normally used as part of a wider installation (i.e. a
robot, an experiment or a demosntration) which will normally include a complete
rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
# How to use it
The *node.launch* file is intended to be included anywhere needed.
The *test.launch* file shows an example of usage, including node.launch, running rqt_reconfigure to adjust the transform parameters, and showing the transform on Rviz.
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<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>iri_base_algorithm</build_depend>
<build_export_depend>iri_base_algorithm</build_export_depend>
<exec_depend>iri_base_algorithm</exec_depend>
<depend>iri_base_algorithm</depend>
<depend>tf</depend>
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