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mavlink / mavros

MAVLink to ROS gateway with proxy for Ground Control Station
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Define parameters for the frame names of the static transforms #1909

Closed mzahana closed 8 months ago

mzahana commented 8 months ago

This PR solves the issue of duplicate (non unique) static transforms when mavros is used in multi-vehicle SITL setup. Before this PR, it was not possible to have a proper TF tree where each vehicle has its unique base_link(base_link_frd and odom (odome_ned) frames as it was hard-coded in mavros_uas node. Also the odom plugin would keep throwing an error because of disconnected trees.

With this PR, the user can define the statice transform frames (base_link, odom, map) as node parameters of the mavros_node which is the passed to the mavros_uas node. In addition, the odom plugin is modified to infer the _frd frames directly from the odom/map base_link (or simply the parent and the child frames)m which are defined in the config.yaml file.

With this PR, I am able to have a proper and connected trees in multi-vehicle simulation.

FPSychotic commented 8 months ago

Please, any chance to port this to ROS Noetic?

NarmadaBalasooriya commented 4 months ago

@mzahana Is there any chance to port this to ROS Noetic? I am using noetic and I have the same issue with using unique frames in multi-uav simulation.