Add possibility to change parent_child_id

.vscode/settings.json

@@ -0,0 +1,72 @@
+{
+    "files.associations": {
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "istream": "cpp",
+        "ostream": "cpp",
+        "*.cps": "javascript",
+        "*.h": "cpp",
+        "charconv": "cpp",
+        "array": "cpp",
+        "string_view": "cpp",
+        "*.old": "cpp",
+        "*.bkp": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "functional": "cpp",
+        "deque": "cpp",
+        "string": "cpp",
+        "vector": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "atomic": "cpp",
+        "hash_map": "cpp",
+        "hash_set": "cpp",
+        "chrono": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "iterator": "cpp",
+        "map": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "set": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "bit": "cpp"
+    }
+}

src/AprilTagNode.cpp

@@ -71,6 +71,7 @@ class AprilTagNode : public rclcpp::Node {
     // parameter
     std::mutex mutex;
     double tag_edge_size;
+    std::string parent_frame_id; 
     std::atomic<int> max_hamming;
     std::atomic<bool> profile;
     std::unordered_map<int, std::string> tag_frames;
@@ -81,7 +82,6 @@ class AprilTagNode : public rclcpp::Node {
     const image_transport::CameraSubscriber sub_cam;
     const rclcpp::Publisher<apriltag_msgs::msg::AprilTagDetectionArray>::SharedPtr pub_detections;
     tf2_ros::TransformBroadcaster tf_broadcaster;
-
     pose_estimation_f estimate_pose = nullptr;
 
     void onCamera(const sensor_msgs::msg::Image::ConstSharedPtr& msg_img, const sensor_msgs::msg::CameraInfo::ConstSharedPtr& msg_ci);
@@ -110,6 +110,7 @@ AprilTagNode::AprilTagNode(const rclcpp::NodeOptions& options)
     // read-only parameters
     const std::string tag_family = declare_parameter("family", "36h11", descr("tag family", true));
     tag_edge_size = declare_parameter("size", 1.0, descr("default tag size", true));
+    parent_frame_id = declare_parameter("parent_frame_id", "odom", descr("the frame id which is odom by default", true));
 
     // get tag names, IDs and sizes
     const auto ids = declare_parameter("tag.ids", std::vector<int64_t>{}, descr("tag ids", true));
@@ -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;
         // set child frame name by generic tag name or configured tag name
         tf.child_frame_id = tag_frames.count(det->id) ? tag_frames.at(det->id) : std::string(det->family->name) + ":" + std::to_string(det->id);
         const double size = tag_sizes.count(det->id) ? tag_sizes.at(det->id) : tag_edge_size;