Autoconf of extrinsics and intrinsics: TF and msg
In ROS, the extrinsics of the sensors are published via TF (with its own API to "listen" the values). Also, some intrinsic parameters are included in the messages along with the sensor data (for example laserscan.msg
contains angle_max
, angle_min
, etc.) or in a different message (for example cameraInfo.msg
).
This is somehow breaking our wonderful autoconfiguration via yaml files...
This issue is just to remember it.