Closed bastinat0r closed 4 years ago
world
: root coordinate system
loc_system_<name>
: root coordinate system of particular localisation system
loc_system_<name>/target<j>
: target coordinate systemOnly publish transformations between adjacent coordinate systems! Mapping from target to robot has to be done separately.
/loc_system_meta_<name>
: localisation_msgs/localisation_metalocalisation_msgs/localisation_meta consist of
has_orientation
: bool
correct_mapping
: bool
accuracy
: float64
python snipped:
import rospy
from localisation_msgs.msg import localisation_meta
locSystemName = "fakelocalisation"
rospy.init_node(locSystemName)
topic_metadata = rospy.Publisher('loc_system_meta_' + locSystemName, localisation_meta, queue_size=1)
localisation_meta_msg = localisation_meta()
localisation_meta_msg.has_orientation = True
localisation_meta_msg.correct_mapping = True
localisation_meta_msg.accuracy = 1
topic_metadata.publish(localisation_meta_msg);
DONE (only for documentation reasons still open)
I think if needed, we can look up this in the code or the closed issues.