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DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
BSD 3-Clause "New" or "Revised" License
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Fix: Changes tf message type to tf2. #58

Closed matthias-mayr closed 4 years ago

matthias-mayr commented 4 years ago

We noticed that the MIR is publishing messages in tf2. This is one way that works from us, but one might want to use one of those rewrite functions.

I am not too familiar with this software stack, so I leave it to you.

mintar commented 4 years ago

This is only a cosmetic change. tf.msg.tfMessage and tf2_msgs.msg.TFMessage have the same md5sum, so it doesn't matter which one you publish; if one node publishes tf and another subscibes to tf2, it just works.

I have no objections against switching to tf2, but in that case also the package.xml and tf_remove_child_frames.py should be updated. If you want to add it to this PR, I'll merge it.

matthias-mayr commented 4 years ago

Thanks for the comments. They were exactly the type of comment I wanted to have on this PR.

I removed the change of the tf message include and added only the additional subscription that is necessary to get a full tf tree.

mintar commented 4 years ago

Ah, I hadn't seen that part of the PR. Yes, adding tf_static is of course necessary. Thanks for the fix!