Open Gabryss opened 1 month ago
For now, you need to change the hardcoded names in https://github.com/koide3/glim_ros2/blob/973f1956d9090ae48d231aea1c01defce7fb1413/src/glim_ros/rviz_viewer.cpp#L18 . You can set a dummy frame name to imu_frame_id
and connect it with base_footprint
.
I'm recognizing this a very poor way. It must be configurable. I'm thinking of adding the following parameters to the config to better support TF. Do you think it would suffice for your situation?
imu_frame_id
: IMU framelidar_frame_id
: LiDAR frameodom_frame_id
: Odom frameworld_frame_id
: Map framerobot_root_frame_id
: Root frame of the robot (e.g., base_footprint
). root -> imu
transformation must be provided through TF so that GLIM can address the transformation.Then, GLIM should publish a TF tree like map -> odom -> robot_root
and lidar -> imu
. I might be good to make lidar -> imu
optional for the case the user already has a TF tree for this part.
I added parameters to change TF frame names https://github.com/koide3/glim_ros2/pull/28 .
Hello Koide, Thank you so much, I can't wait to try this!
Is your feature request related to a problem? Please describe. I have a complete robotic stack working so far but I would like to change my SLAM algorithm for GLIM. However, it is not possible for me as GLIM create different TF frames as the ones I use (see the screenshot attached). I would then like to specify my own IMU frame and LiDAR frame and link the
odom
with mybase_footprint
frame.Describe the solution you'd like Would it be possible to specify a link to the Tf frame on the
config_ros.json
file or theconfig_sensor.json
file. The ROS 2 convention ask for a linkmap->odom->base_footprint
however some people usemap->odom->base_link
. Would it be possible to specify this in the config file ?Additional context In addition, I can not simply rename my current frames as this will break my other algorithm running on the rover.