Add aspect ratio to FiducialTransforms and add missing check on tf_publish_interval

[rohbotics]

Hey @jack-digilabs Thanks for the contribution!

Can you separate this into 2 PRs, one with the tf publish check, and another for the aspect ratio?

The tf publish check should definitely make it in, the aspect ratio idea needs more thought.

[jack-digilabs]

Sure can. Quick clarifying question on the tf_publish_interval vs publish_tf

tf_publish_interval: ROS Wiki, "Specifies an interval at which poses are published, even if no fiducials are observed. This is useful in cases where the fiducial pose is used as a correction to odometry.". This makes me think setting tf_publish_interval==0 should result in tf's only being published when a fiducial is observed however my addition causes the tf never to be published when tf_publish_interval==0. Is this the functionality you want with tf_publish_interval==0 or should I use publish_tf==false to turn off publishing the tf's?

publish_tf: I'd expect this to completely turn off tf publishing and override the tf_publish_interval. Is my interpretation correct and should I add that functionality?

On Sun, Feb 17, 2019 at 12:23 PM Rohan Agrawal notifications@github.com wrote:

Hey @jack-digilabs https://github.com/jack-digilabs Thanks for the contribution!

Can you separate this into 2 PRs, one with the tf publish check, and another for the aspect ratio?

The tf publish check should definitely make it in, the aspect ratio idea needs more thought.

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[rohbotics]

Your interpretation is correct, publish_tf should override the tf_publish_interval.

Looking forward to the other PR

[jack-digilabs]

I submitted PR #154 to add the functionality described above.