Freya tf tree (#95)

* First try TF tree converted to yaml, not working * Renamed launch files to YAML, WORKING ROS2 * Newest measurements from mech, Z-axis is DOWN * Removed if(BUILD_TESTING) from CMakeLists * Removed unnecessary comments from CMakeLists --------- Co-authored-by: Aleksander Klund <[email protected]>
vortexntnu · Oct 13, 2023 · ad0eea8 · ad0eea8
1 parent 455b971
commit ad0eea8
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Showing 3 changed files with 13 additions and 15 deletions.
diff --git a/asv_setup/CMakeLists.txt b/asv_setup/CMakeLists.txt
@@ -7,26 +7,11 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
 
 # Install launch files.
 install(DIRECTORY
   launch
   DESTINATION share/${PROJECT_NAME}/
 )
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
 ament_package()
diff --git a/asv_setup/launch/pc.launch.yaml b/asv_setup/launch/pc.launch.yaml
@@ -21,3 +21,4 @@ launch:
 
   - include:
       file: "src/vortex-asv/mission/joystick_interface/launch/joystick_interface.launch.yaml" 
+
diff --git a/asv_setup/launch/tf.launch.yaml b/asv_setup/launch/tf.launch.yaml
@@ -0,0 +1,12 @@
+launch:
+  - node:
+      pkg: tf2_ros
+      exec: static_transform_publisher
+      name: base_link_to_lidar
+      args: --frame-id base_link --child-frame-id os_lidar --x -0.0145 --y 0 --z -0.392425 --roll 0 --pitch 0 --yaw 0
+
+  - node:
+      pkg: tf2_ros
+      exec: static_transform_publisher
+      name: base_link_to_zed2_camera_center
+      args: --frame-id base_link --child-frame-id zed2i_camera_center --x 0.3005 --y 0 --z -0.22036 --roll 0 --pitch 0 --yaw 0
Original file line number	Diff line number	Diff line change
Expand Up		@@ -21,3 +21,4 @@ launch:

		- include:
		file: "src/vortex-asv/mission/joystick_interface/launch/joystick_interface.launch.yaml"