mocap-map correction

[kaarmu]

@Fedezac and @mich-pest, could you update with the real transform parameters?

[Fedezac]

Here you can find the tf static broadcaster that take into account both linear and angular offsets between the map and the mocap frame for the sml map. Also, both launch files included in the main branch have been modified in order to automatically launch this node, if the map used is sml.

[kaarmu]

I think I got a bit confused while on the train. Why aren't you using the tf package's static_transform_publisher?

[mich-pest]

We preferred to run a node taking advantage of a StaticTransformBroadcaster just to consider as parameters of the node roll, pitch and roll angles instead of the quaternion (intuitive for us).

quat = tf.transformations.quaternion_from_euler(float(roll), float(pitch), float(yaw))

Launching the static_transform_publisher node from tf means providing the quaternion directly in the launch file. It depends on what you consider preferable.

[kaarmu]

No, you can choose with static_transform_publisher. If you give it 3 + 4 + 2 arguments you're using quaternions. If you give it 3 + 3 + 2 then you're using RPY. Check launch/map_correction.launch I created for you. (The version which is commented up above)

[mich-pest]

Sorry, you are right. Fixed now