Add parameter to optionally disable the publication of the static tf #330
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@Samahu it would be great if we could discuss moving forward with this PR as it allows to have a little bit more control over how to manipulate the static transformations of the 3 different ouster coordinate frames |
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@nachovizzo Sure, I will prioritize the merge of @doisyg work within couple days |
Samahu
changed the base branch from
ros2
to
ROS2-389-replay-improvments-and-fixes
Samahu
approved these changes
Oct 30, 2024
Samahu
merged commit 075378a
into
ouster-lidar:ROS2-389-replay-improvments-and-fixes
3 checks passed
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Summary of Changes
This PR adds the parameter
pub_static_tf, by defaultTrue, to control if the user wants or not to have the driver node publishing the static transform between the sensor frames.It is useful to have it disabled in systems where a calibration process directly modifies the tf of the point cloud frame.
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