Fixing ESDA tf tree

[AbBaSaMo]

Overview

This issue was originally a general sensor integration task but has been repurposed to focus on fixing the tf tree.

For slam_toolbox to work, it needs certain transforms to be outputting and iirc, some of these are dependent on robot_localization working. For robot_localization to work, it needs adequate GNSS/imu signals and this depends on the following issues

• https://github.com/Monash-Connected-Autonomous-Vehicle/ESDA/issues/62
• https://github.com/Monash-Connected-Autonomous-Vehicle/ESDA/issues/63

Ignoring the circular dependency between this task and issue 63, the purpose of this task is to fix the tf_tree as much as possible or at least, using static transforms, verify that the issue is indeed the lack of prerequisite transforms for slam_toolbox.

Relevant resources

• https://github.com/Monash-Connected-Autonomous-Vehicle/ESDA/issues/16
• https://github.com/Monash-Connected-Autonomous-Vehicle/ESDA/issues/19

Acceptance criteria

• [ ] Odom is outputting correctly
• [ ] slam_toolbox map is outputting correctly

Todo

• [ ] work on dependent issues
• [ ] try running the sensors and perception launch files
• [ ] try supplying static transforms to get an output

[AbBaSaMo]

Sensors should be working. Should remind myself that the VLP16 needs 12V NOT 5V.

The new piksi does not work. Need a usb to reset to factory settings and see if it'll fix otherwise the old one still works thankfully.

[AbBaSaMo]

refactored code as lots of the pkgs we use don't allow for supplying a config so now I use forks

imu and vlp16 work. zed shows joint states and robot description but nothing else. I have to launch the perception package instead of just the zed wrapper anyway

need to lanch the sim file that plublishes joint states for robot loc and slam to work

[AbBaSaMo]

APpears to bve an issue with the following file

As not using it throws no errors

[AbBaSaMo]

map is in line with zed cam, idky, need to consider that there will be a map from zed and from lidar and then a fused one maybe in the urdf or launch there is smth?? idk

[AbBaSaMo]

Set publish map tf and urdf to false when launchign zed wrapper but now there is no map from slam tool box and idk why. possible a tf issue. Maybe I need to set some params when launching SLAM or set a TF between map and velodyne link