boschglobal / locator_ros_bridge

ROS interface to Rexroth ROKIT Locator
Apache License 2.0
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tf Broadcaster #41

Open tessa-j opened 1 year ago

tessa-j commented 1 year ago

Hi,

in a previous PR, the tf broadcaster that published the transform between localization pose and map fram was removed: https://github.com/boschglobal/locator_ros_bridge/pull/21 Unfortunately there was no comment on the reason for the removal?

The tf message was important for our development. I am therefore suggesting to re-introduce a tf broadcaster. I already added the boadcaster to my local copy of the localor bridge, and would offer to create a PR with my changes. If there are strong reasons why there should be no such broadcaster, I suggest we can discuss this here.

Best, Tessa

slaible commented 1 year ago

Hi @tessa-j,

We removed the TF broadcaster for two reasons. First of all it is a bit beyond the scope of the bridge, which only converts data types. And second, the correct way in ROS is to broadcast the transform between the map and the odom frame. Therefore, this is now done in a separate node, however, only in the master branch: https://github.com/boschglobal/locator_ros_bridge/blob/8bf9a5833447cd8f910a9325be7a12b0956b6644/bosch_locator_bridge_utils/src/locator_node.cpp#L199

If we were to decide to reintroduce it, I would suggest being able to turn this on and off with a parameter; and that parameter would default to false.

tessa-j commented 1 year ago

Hi @slaible, If we can set this parameter in the launchfile, the separate node sounds like a viable solution for us. I assume the node publishes the transform between map and base_laser as the bridge did before? Could you make this node availabe on the noetic-v1.7 branch as well?

slaible commented 1 year ago

The node publishes the transform between map and odom, and it is Nav2 / ROS 2 specific.