-
Notifications
You must be signed in to change notification settings - Fork 139
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
use static tf broadcaster for ros2 #112
use static tf broadcaster for ros2 #112
Conversation
Ok @Samahu I have updated this to include the latest merged PR, so now this only adds the static broadcaster |
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:
Basically all we need to do is enable these static publisher regardless if RVIZ is launched or not. |
I take that back we need the C++ code since we don't have the transform until metadata is received. |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Looks good to me.
@Aposhian if you don't have any other changes I am ready to merge |
I don't have any more changes, but I am still testing to validate that it works as expected. |
I appreciate any help! |
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! |
a8b643c
into
ouster-lidar:SW-4972-merge-switching-to-static-transform-publisher-contribution
@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. |
Sounds good! |
…124) * use static tf broadcaster for ros2 (#112) * use separate params for tf frames * send static transforms once * Disable static transform publishers and update changelog and package version * Disable rviz static transform publisher * Remove rviz static transform publisher hack * Remove left out variables --------- Co-authored-by: Adam Aposhian <[email protected]>
…oxy (#125) * use static tf broadcaster for ros2 (#112) * use separate params for tf frames * send static transforms once * Disable static transform publishers and update changelog and package version * Disable rviz static transform publisher * Remove rviz static transform publishers hack --------- Co-authored-by: Adam Aposhian <[email protected]>
Related Issues & PRs
#105
Summary of Changes
Validation
In progress