use static tf broadcaster for ros2

[Aposhian]

Related Issues & PRs

#105

Summary of Changes

• send static transforms only once with a static transform broadcaster

Validation

In progress

[Aposhian]

Ok @Samahu I have updated this to include the latest merged PR, so now this only adds the static broadcaster

[Samahu]

If static broadcast is the appropriate (for ROS2) then we don't need to add the static publisher in the C++ code.. we could just utilize the static publishers that are created when RVIZ is launched:

• In XML:

  • ouster-ros/ouster-ros/launch/rviz.launch.xml

    Line 21 in 513c826

    <node if="$(var _enable_static_tf_publishers)"

  • ouster-ros/ouster-ros/launch/rviz.launch.xml

    Line 24 in 513c826

    <node if="$(var _enable_static_tf_publishers)"

• In Python

  • ouster-ros/ouster-ros/launch/rviz.launch.py

    Line 36 in 513c826

    sensor_imu_tf = Node(

  • ouster-ros/ouster-ros/launch/rviz.launch.py

    Line 43 in 513c826

    sensor_ldr_tf = Node(

Basically all we need to do is enable these static publisher regardless if RVIZ is launched or not.

[Samahu]

I take that back we need the C++ code since we don't have the transform until metadata is received.

[Samahu]

Looks good to me.

[Samahu]

@Aposhian if you don't have any other changes I am ready to merge

[Aposhian]

I don't have any more changes, but I am still testing to validate that it works as expected.

[Samahu]

I don't have any more changes, but I am still testing to validate that it works as expected.

I appreciate any help!

[Aposhian]

I've confirmed this works, although it gave me a little bit of unexpected results due to #33. This PR should be good to merge!

[Samahu]

@Aposhian I went ahead and merged your PR into a branch so I would be able to document your changes and also disable the static publishers that I had for the rivz node before merging into the main ros2 branch.

[Aposhian]

Sounds good!