|
Package Summary
Tags | No category tags. |
Version | 1.1.2 |
License | BSD-3-Clause |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/aerostack2/aerostack2.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-08-26 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Adds external objects pose to tf
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_external_object_to_tf
This node is used to add an external object to TF tree using Aerostack2.
There are several data sources that we can use to add an object to the TF tree.
- PoseStamped topic
- NavSatFix topic + Azimuth topic
- Static transform: The transform data will be defined either in the configuration file, or the services that allow it.
The following example configuration file defines every possible way of adding an object to the TF tree:
# YAML
---
objects:
- type: pose
parent_frame: earth
frame: object_0
pose_topic: "/object_0/pose"
- type: gps
parent_frame: earth
frame: object_1
gps_topic: "/object_1/sensor_measurements/gps"
azimuth_topic: "/object_1/gps/azimuth"
- type: gps_static
parent_frame: earth
frame: object_2
gps_pose:
lat: 52.171775999796274
lon: 4.416570248787041
alt: 50.520017601549625
orientation:
azimuth: 180.0
bank: 0.0
elevation: 0.0
- type: pose_static
frame: object_3
pose:
position:
x: 5.0
y: 0.0
z: 0.0
orientation:
r: 0.0
p: 0.0
y: 1.57
- type: mocap
rigid_bodies:
- rigid_body: gate_0
frame: object_0
- rigid_body: gate_1
frame: object_0
Aditionally, static transformations can be added to the TF tree via services, both defined by a pose or gps data.
CHANGELOG
Changelog for package as2_external_object_to_tf
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_external_object_to_tf] quick fix flake8
- [as2_external_object_tf_tf] fix mocap source data
- [as2_external_object_to_tf] default config file within the node, added description
- [as2_external_object_to_tf] move interfaces from utilities to as2 interface packages
- [as2_external_object_to_tf] removed interface generation dependencies from external object to tf
- [as2_external_object_to_tf] as2_utilities package created, external object to tf node added to aerostack2
- Contributors: Javilinos, Miguel Fernandez-Cortizas, Rafael P
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
Deps | Name | |
---|---|---|
1 | ament_cmake | |
1 | ament_lint_common | |
1 | ament_lint_auto | |
1 | ament_cmake_gtest | |
1 | rclcpp | |
1 | as2_core | |
2 | std_msgs | |
1 | as2_msgs | |
3 | std_srvs | |
2 | geometry_msgs | |
2 | sensor_msgs | |
1 | mocap4r2_msgs | |
3 | tf2 | |
3 | tf2_ros |
System Dependencies
Name |
---|
yaml-cpp |
Dependant Packages
Name | Repo | Deps |
---|---|---|
aerostack2 | github-aerostack2-aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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