Create a new package to house all of the static (sensor) transforms for the kart.
Is this fixing an issue?
No
Are there more details that are relevant?
This addition is minor but important in the case where multiple static transforms are used and multiple launch files need to define these transforms. This method allows us to avoid the issues where:
Need to change one of the existing transforms. In the old method, would have to locate all the instances of the static_tf and change it. Now only have to change it in one place.
Similarly, if a new static tf is added, this method allows us to make the change in one place rather than dig through all dependent launch files.
Also, note that the old static publishers were added in an archive folder within the new ROS package under the directory /old_tf_config_code.
gfaout
commented
3 years ago
What is a quick description of the change?
Create a new package to house all of the static (sensor) transforms for the kart.
Is this fixing an issue?
No
Are there more details that are relevant?
This addition is minor but important in the case where multiple static transforms are used and multiple launch files need to define these transforms. This method allows us to avoid the issues where:
Also, note that the old static publishers were added in an archive folder within the new ROS package under the directory /old_tf_config_code.
Check lists (check x in [ ] of list items)
No testing needed for launch file development.
Any additional comments?
n/a