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rock-core / drivers-transformer

Generic computation of geometric transformations
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Remapping of frames not working? #9

Closed skasperski closed 8 years ago

skasperski commented 8 years ago

I always thought, remapping of frame names is done in the transformer configuration script "transforms.rb", but in my current setup I have this line in the config:

dynamic_transform "odo.odometry_samples", "robot" => "odometry"

But whatever other names I give to "Body" or "odometry" (which are set like this in the RigidBodyState's source_frame and target_frame fields), will cause this transform to be ignored. I receive only this warning:

Vizkit[WARN]: /odo.odometry_samples produced a transformation for
Vizkit[WARN]:     Body => odometry,
Vizkit[WARN]:     but I was expecting robot => odometry
Vizkit[WARN]:   I am ignoring this transformation. You will get this message only once,
Vizkit[WARN]:   but get a notification if the right transformation is received later.
doudou commented 8 years ago

The component itself (here /odo) needs to be configured so that it produces the expected transformation. There are usually XXX_frame properties for this purpose.

Syskit does fully automated configuration (i.e. you don't have to touch the component's configuration(s)), but that requires quite a bit more modelling.