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Make the reference frame configurable #4

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Make the reference frame configurable #4

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1 change: 1 addition & 0 deletions param/xsens_mti_node.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@

# TF transform frame_id (default: imu_link), you may want to change it if you use multiple devices
frame_id: "imu_link"
reference_frame_id: "world"

# Message publishers
pub_imu: true
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1 change: 1 addition & 0 deletions src/messagepublishers/packetcallback.h
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Expand Up @@ -66,6 +66,7 @@
#include <xstypes/xsdatapacket.h>

const char* DEFAULT_FRAME_ID = "imu_link";
const char* DEFAULT_REFERENCE_FRAME_ID = "world";

class PacketCallback
{
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4 changes: 3 additions & 1 deletion src/messagepublishers/transformpublisher.h
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Expand Up @@ -70,10 +70,12 @@ struct TransformPublisher : public PacketCallback
{
tf2_ros::TransformBroadcaster tf_broadcaster;
std::string frame_id = DEFAULT_FRAME_ID;
std::string reference_frame_id = DEFAULT_REFERENCE_FRAME_ID;

TransformPublisher(rclcpp::Node &node) : tf_broadcaster(node)
{
node.get_parameter("frame_id", frame_id);
node.get_parameter("reference_frame_id", reference_frame_id);
}

void operator()(const XsDataPacket &packet, rclcpp::Time timestamp)
Expand All @@ -85,7 +87,7 @@ struct TransformPublisher : public PacketCallback
XsQuaternion q = packet.orientationQuaternion();

tf.header.stamp = timestamp;
tf.header.frame_id = "world";
tf.header.frame_id = reference_frame_id;
tf.child_frame_id = frame_id;
tf.transform.translation.x = 0.0;
tf.transform.translation.y = 0.0;
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