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use static tf broadcaster for ros2 #112

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merged 5 commits into from
May 5, 2023
Merged

use static tf broadcaster for ros2 #112

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4361969
use separate params for tf frames
Aposhian Apr 27, 2023
09b6415
send static transforms once
Aposhian Apr 27, 2023
df7e292
Revert "use separate params for tf frames"
Aposhian May 1, 2023
c28d391
Merge branch 'ros2' into ros2-tf-update
Aposhian May 1, 2023
771afb5
Merge branch 'ros2' into ros2-tf-update
Aposhian May 3, 2023
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17 changes: 10 additions & 7 deletions ouster-ros/src/os_cloud_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@

#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <pcl_conversions/pcl_conversions.h>

#include <algorithm>
Expand Down Expand Up @@ -118,6 +118,7 @@ class OusterCloud : public OusterProcessingNodeBase {
RCLCPP_INFO(get_logger(),
"OusterCloud: retrieved new sensor metadata!");
info = sensor::parse_metadata(metadata_msg->data);
send_static_transforms();
n_returns = get_n_returns();
create_lidarscan_objects();
compute_scan_ts = [this](const auto& ts_v) {
Expand All @@ -127,6 +128,13 @@ class OusterCloud : public OusterProcessingNodeBase {
create_subscriptions();
}

void send_static_transforms() {
tf_bcast.sendTransform(ouster_ros::transform_to_tf_msg(
info.lidar_to_sensor_transform, sensor_frame, lidar_frame, now()));
tf_bcast.sendTransform(ouster_ros::transform_to_tf_msg(
info.imu_to_sensor_transform, sensor_frame, imu_frame, now()));
}

void create_lidarscan_objects() {
// The ouster_ros drive currently only uses single precision when it
// produces the point cloud. So it isn't of a benefit to compute point
Expand Down Expand Up @@ -195,9 +203,6 @@ class OusterCloud : public OusterProcessingNodeBase {
pc_msg.header.frame_id = sensor_frame;
lidar_pubs[i]->publish(pc_msg);
}

tf_bcast.sendTransform(ouster_ros::transform_to_tf_msg(
info.lidar_to_sensor_transform, sensor_frame, lidar_frame, msg_ts));
}

uint64_t impute_value(int last_scan_last_nonzero_idx,
Expand Down Expand Up @@ -316,8 +321,6 @@ class OusterCloud : public OusterProcessingNodeBase {
auto imu_msg =
ouster_ros::packet_to_imu_msg(*packet, msg_ts, imu_frame, pf);
imu_pub->publish(imu_msg);
tf_bcast.sendTransform(ouster_ros::transform_to_tf_msg(
info.imu_to_sensor_transform, sensor_frame, imu_frame, msg_ts));
};

static inline rclcpp::Time to_ros_time(uint64_t ts) {
Expand Down Expand Up @@ -346,7 +349,7 @@ class OusterCloud : public OusterProcessingNodeBase {
std::string imu_frame;
std::string lidar_frame;

tf2_ros::TransformBroadcaster tf_bcast;
tf2_ros::StaticTransformBroadcaster tf_bcast;

bool use_ros_time;

Expand Down