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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 2024-12-05
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 PĂ©rez, pariaspe

1.0.9 (2024-03-25)

1.0.8 (2024-02-12)

1.0.7 (2024-02-04)

1.0.6 (2023-12-12)

1.0.5 (2023-11-08)

1.0.4 (2023-08-23)

1.0.3 (2023-08-22)

1.0.2 (2023-08-17)

1.0.1 (2023-04-25)

1.0.0 (2023-03-18)

0.2.2 (2022-12-22)

0.2.1 (2022-12-19)

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.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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