Add possibility to change parent_child_id #31
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christianrauch
requested changes
Apr 8, 2024
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This will change the behaviour as the parent frame will not be the camera optical frame any more.
What is the application in which you have to change the parent frame in this way and that cannot be achieved by other means (e.g. attaching an identity transform to the current parent frame)?
At least this change should be optional and use the old behaviour by default.
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Do not commit personal IDE settings.
| @@ -215,6 +216,7 @@ void AprilTagNode::onCamera(const sensor_msgs::msg::Image::ConstSharedPtr& msg_i | |||
| // 3D orientation and position | |||
| geometry_msgs::msg::TransformStamped tf; | |||
| tf.header = msg_img->header; | |||
| tf.header.frame_id = parent_frame_id; | |||
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This will override the frame ID from the camera in which frame the tag is detected and there is no way to prevent this.
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