Revert "use separate params for tf frames"

This reverts commit 4361969.
ouster-lidar · May 1, 2023 · df7e292 · df7e292
1 parent 09b6415
commit df7e292
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Showing 7 changed files with 18 additions and 39 deletions.
diff --git a/ouster-ros/config/parameters.yaml b/ouster-ros/config/parameters.yaml
@@ -12,7 +12,5 @@ ouster/os_sensor:
     imu_port: 0
 ouster/os_cloud:
   ros__parameters:
-    sensor_frame: ''    # Frame of physical sensor
-    lidar_frame: ''     # Frame of lidar scans
-    imu_frame: ''       # Frame of IMU data
+    tf_prefix: ''
     timestamp_mode: ''
diff --git a/ouster-ros/launch/record.composite.launch.xml b/ouster-ros/launch/record.composite.launch.xml
@@ -41,9 +41,7 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
-  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
-  <arg name="imu_frame" default="" description="tf frame of imu data"/>
+  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
 
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
@@ -61,9 +59,7 @@
         <param name="metadata" value="$(var metadata)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <param name="lidar_frame" value="$(var lidar_frame)"/>
-        <param name="sensor_frame" value="$(var sensor_frame)"/>
-        <param name="imu_frame" value="$(var imu_frame)"/>
+        <param name="tf_prefix" value="$(var tf_prefix)"/>
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>

diff --git a/ouster-ros/launch/replay.composite.launch.xml b/ouster-ros/launch/replay.composite.launch.xml
@@ -18,9 +18,7 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
-  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
-  <arg name="imu_frame" default="" description="tf frame of imu data"/>
+  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
 
   <let name="_use_metadata_file" value="$(eval '\'$(var metadata)\' != \'\'')"/>
 
@@ -31,9 +29,7 @@
     </node>
     <node_container pkg="rclcpp_components" exec="component_container_mt" name="os_container" output="screen" namespace="">
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <param name="lidar_frame" value="$(var lidar_frame)"/>
-        <param name="sensor_frame" value="$(var sensor_frame)"/>
-        <param name="imu_frame" value="$(var imu_frame)"/>
+        <param name="tf_prefix" value="$(var tf_prefix)"/>
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>

diff --git a/ouster-ros/launch/sensor.composite.launch.xml b/ouster-ros/launch/sensor.composite.launch.xml
@@ -39,9 +39,7 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
-  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
-  <arg name="imu_frame" default="" description="tf frame of imu data"/>
+  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
 
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
@@ -59,9 +57,7 @@
         <param name="metadata" value="$(var metadata)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <param name="lidar_frame" value="$(var lidar_frame)"/>
-        <param name="sensor_frame" value="$(var sensor_frame)"/>
-        <param name="imu_frame" value="$(var imu_frame)"/>
+        <param name="tf_prefix" value="$(var tf_prefix)"/>
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>

diff --git a/ouster-ros/launch/sensor.independent.launch.xml b/ouster-ros/launch/sensor.independent.launch.xml
@@ -39,9 +39,7 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
-  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
-  <arg name="imu_frame" default="" description="tf frame of imu data"/>
+  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
 
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
@@ -58,9 +56,7 @@
       <param name="metadata" value="$(var metadata)"/>
     </node>
     <node pkg="ouster_ros" exec="os_cloud" name="os_cloud" output="screen">
-      <param name="lidar_frame" value="$(var lidar_frame)"/>
-        <param name="sensor_frame" value="$(var sensor_frame)"/>
-        <param name="imu_frame" value="$(var imu_frame)"/>
+      <param name="tf_prefix" value="$(var tf_prefix)"/>
       <param name="timestamp_mode" value="$(var timestamp_mode)"/>
     </node>
     <node pkg="ouster_ros" exec="os_image" name="os_image" output="screen"/>

diff --git a/ouster-ros/launch/sensor_mtp.launch.xml b/ouster-ros/launch/sensor_mtp.launch.xml
@@ -47,9 +47,7 @@
     description="whether to run a rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share ouster_ros)/config/viz.rviz"
     description="optional rviz config file"/>
-  <arg name="sensor_frame" default="" description="tf frame of physical sensor"/>
-  <arg name="lidar_frame" default="" description="tf frame of lidar scan data"/>
-  <arg name="imu_frame" default="" description="tf frame of imu data"/>
+  <arg name="tf_prefix" default="" description="namespace for tf transforms"/>
 
   <group>
     <push-ros-namespace namespace="$(var ouster_ns)"/>
@@ -67,9 +65,7 @@
         <param name="metadata" value="$(var metadata)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterCloud" name="os_cloud">
-        <param name="lidar_frame" value="$(var lidar_frame)"/>
-        <param name="sensor_frame" value="$(var sensor_frame)"/>
-        <param name="imu_frame" value="$(var imu_frame)"/>
+        <param name="tf_prefix" value="$(var tf_prefix)"/>
         <param name="timestamp_mode" value="$(var timestamp_mode)"/>
       </composable_node>
       <composable_node pkg="ouster_ros" plugin="ouster_ros::OusterImage" name="os_image"/>

diff --git a/ouster-ros/src/os_cloud_node.cpp b/ouster-ros/src/os_cloud_node.cpp
@@ -91,16 +91,17 @@ class OusterCloud : public OusterProcessingNodeBase {
     }
 
     void declare_parameters() {
-        declare_parameter<std::string>("lidar_frame");
-        declare_parameter<std::string>("sensor_frame");
-        declare_parameter<std::string>("imu_frame");
+        declare_parameter<std::string>("tf_prefix");
         declare_parameter<std::string>("timestamp_mode");
     }
 
     void parse_parameters() {
-        sensor_frame = get_parameter("sensor_frame").as_string();
-        imu_frame = get_parameter("imu_frame").as_string();
-        lidar_frame = get_parameter("lidar_frame").as_string();
+        auto tf_prefix = get_parameter("tf_prefix").as_string();
+        if (is_arg_set(tf_prefix) && tf_prefix.back() != '/')
+            tf_prefix.append("/");
+        sensor_frame = tf_prefix + "os_sensor";
+        imu_frame = tf_prefix + "os_imu";
+        lidar_frame = tf_prefix + "os_lidar";
         auto timestamp_mode_arg = get_parameter("timestamp_mode").as_string();
         use_ros_time = timestamp_mode_arg == "TIME_FROM_ROS_TIME";
     }