ardupilot_ros: cartographer working with ros 2 setup

ArduPilot · Jun 27, 2023 · faac4f9 · faac4f9
1 parent ea83530
commit faac4f9
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Showing 34 changed files with 300 additions and 2,840 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
diff --git a/README.md b/README.md
diff --git a/ardupilot_ros/__init__.py b/ardupilot_ros/__init__.py
diff --git a/configuration_files/cartographer.lua b/configuration_files/cartographer.lua
@@ -5,8 +5,8 @@ options = {
   map_builder = MAP_BUILDER,
   trajectory_builder = TRAJECTORY_BUILDER,
   map_frame = "map",
-  tracking_frame = "base_link",
-  published_frame = "base_link",
+  tracking_frame = "iris",
+  published_frame = "iris",
   odom_frame = "odom",
   provide_odom_frame = true,
   publish_frame_projected_to_2d = false,
@@ -52,4 +52,4 @@ POSE_GRAPH.constraint_builder.global_localization_min_score = 0.65
 POSE_GRAPH.optimization_problem.huber_scale = 1e2
 POSE_GRAPH.optimize_every_n_nodes = 30
 
-return options
+return options
diff --git a/launch/ap_nav.launch b/launch/ap_nav.launch
diff --git a/launch/apm.launch b/launch/apm.launch