added tf_prefix to imu_sensor_broadcaster

Signed-off-by: Jakub Delicat <[email protected]>
husarion · Nov 14, 2023 · 976a6da · 976a6da
1 parent 539cd89
commit 976a6da
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Showing 3 changed files with 12 additions and 5 deletions.
diff --git a/rosbot_controller/config/diff_drive_controller.yaml b/rosbot_controller/config/diff_drive_controller.yaml
@@ -32,8 +32,8 @@ simulation_ignition_ros_control:
 /**/imu_broadcaster:
   ros__parameters:
     sensor_name: imu
-    # All transforms are overwritten in launch file due to the namespace argument
-    # frame_id: imu_link
+    tf_frame_prefix_enable: True
+    frame_id: imu_link
     static_covariance_orientation: [1.9e-3, 0.0, 0.0, 0.0, 1.9e-3, 0.0, 0.0, 0.0, 1.9e-3] # Values taken from datasheet
     static_covariance_angular_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0e-3] # Values measured experimentally
     static_covariance_linear_acceleration: [6.4e-2, 0.0, 0.0, 2.2e-2, 0.0, 0.0, 0.0, 0.0, 0.0] # Values measured experimentally

diff --git a/rosbot_controller/config/mecanum_drive_controller.yaml b/rosbot_controller/config/mecanum_drive_controller.yaml
@@ -27,8 +27,8 @@
 /**/imu_broadcaster:
   ros__parameters:
     sensor_name: imu
-     # All transforms are overwritten in launch file due to the namespace argument
-    # frame_id: imu_link
+    tf_frame_prefix_enable: True
+    frame_id: imu_link
     static_covariance_orientation: [1.9e-3, 0.0, 0.0, 0.0, 1.9e-3, 0.0, 0.0, 0.0, 1.9e-3] # Values taken from datasheet
     static_covariance_angular_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0e-3] # Values based on diff_drive
     static_covariance_linear_acceleration: [6.4e-2, 0.0, 0.0, 2.2e-2, 0.0, 0.0, 0.0, 0.0, 0.0] # Values based on diff_drive

diff --git a/rosbot_controller/launch/controller.launch.py b/rosbot_controller/launch/controller.launch.py
@@ -36,6 +36,9 @@ def generate_launch_description():
         default_value="",
         description="Namespace for all topics and tfs",
     )
+    namespace_tf_prefix = PythonExpression(
+        ["''", " if '", namespace, "' == '' ", "else ", "'", namespace, "_'"]
+    )
 
     mecanum = LaunchConfiguration("mecanum")
     declare_mecanum_arg = DeclareLaunchArgument(
@@ -133,7 +136,11 @@ def generate_launch_description():
             robot_description,
             robot_controllers,
             # imu_broadcaster frame_id override
-            {"frame_id": LaunchConfiguration("imu_frame", default=[namespace, "_imu_link"])},
+            {
+                "frame_id": LaunchConfiguration(
+                    "imu_frame", default=[namespace_tf_prefix, "imu_link"]
+                )
+            },
             {
                 "tf_frame_prefix": LaunchConfiguration(
                     "rosbot_base_tf_frame_prefix", default=[namespace]