Closed azeey closed 2 months ago
There's also an optical_frame_id
in SDFormat. Probably should consolidate all frame id info into the frame_id
tag targeting Harmonic.
@ahcorde is this something we can do for Harmonic?
Hi all, as of today is there a way to change the frame_id of a sensor? I am using a gpu_lidar but I cannot manage to change the frame_id attached to the message. Thanks
Hi all, as of today is there a way to change the frame_id of a sensor? I am using a gpu_lidar but I cannot manage to change the frame_id attached to the message. Thanks
Yes, you should be able to use gz_frame_id
. In Fortress, you can use ign_frame_id
(discouraged) or gz_frame_id
.
Hello everyone,
I am facing the same problem. gz_frame_id
tag is not changing the frame_id of the lidar_sensor. Rather, the lidar_sensor is publishing messages with frame_id of the format: ROBOT_NAME/base_footprint/NAME_OF_THE_SENSOR
. is there any new fix for this?
Also, optical_frame_id
is issuing the same warning.
included frame id fix for lidar sensor in https://github.com/gazebosim/gz-sensors/pull/444. I'll backport to gz-sensors8 (harmonic) and make it compatible with <gz_frame_id>
once that PR is merged.
backported fix in #446
Environment
Description
gz_frame_id
to set a custom frame id for a sensor in gz-sim.gz_frame_id
is not part of the SDFormat spec.I think we'd want this tag in SDFormat. I would also say we could just use
frame_id
instead ofgz_frame_id
.Steps to reproduce
gz-sim/test/worlds/imu.sdf
to usegz_frame_id