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uji-ros-pkg / underwater_simulation

UWSim-NET, the Underwater Simulator
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TF frames should be generated for sensors #41

Closed maxpfingsthorn closed 8 years ago

maxpfingsthorn commented 10 years ago

Right now, it is necessary to edit the URDF to have proper TF frames for sensors. Also, using the Girona500 example, TF prefixes are added after the fact, making "hardcoding" TF frames in the xml difficult.

It would be great if uwsim could check if a referenced TF frame in the sensor definition exists already, and generate one (with the configured pose and parent frame) if it does not, while respecting the naming conventions (i.e. include the prefix as well). Maybe a warning should be issued if the frame does exist, but does not have the same pose relative to the frame mentioned in the relativeTo tag.

perezsolerj commented 10 years ago

Hi Max,

We are planning to add full support for sensors TF publishing soon. By now cameras, multibeam and laser sensors are already being published altough they are referenced to vehicle instead of relativeTo tag. Thanks for your suggestion.