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brennanyama / robotx

RobotX Repository
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Null static transforms in transforms.launch #3

Open sayali-purdue opened 4 years ago

sayali-purdue commented 4 years ago

All the static transforms in the launch file transforms.launch are null transforms (i.e., zero translation and zero rotation). These transforms define the gps, laser and imu frames with respect to base_link frame. Usually, laser or imu frames will at least have some translation with respect to base_link or the center of the robot. Therefore, I am curious to know why all these static transforms are null? Are they (e.g. laser) really at the same pose as base_link? I would really appreciate if you could describe the use/reason of such null transforms in the robot system.

Thank you!

brennanyama commented 4 years ago

In short: we were novices at the time and we didn't really know what we were doing, so we filled those args with zeros. Generally speaking, getting the TF frames correct is very important if you are using ROS for navigation.

This repo is not a great place for UXS sample software as it's largely a dump of a lot of disparate software. The RIP lab currently uses this repo: https://github.com/riplaboratory/Kanaloa

sayali-purdue commented 4 years ago

Thanks for your reply and for the repo link.