Bug/static tf

asv_setup/launch/tf.launch.py

@@ -0,0 +1,65 @@
+import math
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSDurabilityPolicy, QoSHistoryPolicy
+from launch.actions import ExecuteProcess
+
+
+def generate_launch_description():
+    # command line arguments to get desired QoS settings
+    echo_tf_static = ExecuteProcess(
+        cmd=['ros2', 'topic', 'echo', '--qos-durability', 'transient_local', '--qos-reliability', 'reliable', '/tf_static'],
+        output='screen'
+    )
+
+    # base_link (NED) to base_link (SEU) tf.
+    tf_base_link_ned_to_base_link_seu = Node(
+        package='tf2_ros',
+        name='base_link_ned_to_base_link_seu',
+        executable='static_transform_publisher',
+        arguments=['--x'              , '0',
+                   '--y'              , '0',
+                   '--z'              , '0',
+                   '--roll'           , '0',
+                   '--pitch'          , str(math.pi),
+                   '--yaw'            , '0',
+                   '--frame-id'       , 'base_link',
+                   '--child-frame-id' , 'base_link_SEU'],
+    )
+
+    tf_base_link_to_lidar = Node(
+        package='tf2_ros',
+        name='base_link_to_lidar',
+        executable='static_transform_publisher',
+        arguments=['--x'              , '-0.0145',
+                   '--y'              , '0',
+                   '--z'              , '-0.392425',
+                   '--roll'           , str(math.pi),
+                   '--pitch'          , '0',
+                   '--yaw'            , '0',
+                   '--frame-id'       , 'base_link',
+                   '--child-frame-id' , 'os_lidar'],
+    )
+
+    # base_link to zed2i_camera_center tf.
+    tf_base_link_to_zed2_camera_center = Node(
+        package='tf2_ros',
+        name='base_link_to_zed2_camera_center',
+        executable='static_transform_publisher',
+        arguments=['--x'              , '0.3005',
+                   '--y'              , '0',
+                   '--z'              , '-0.22036',
+                   '--roll'           , str(math.pi),
+                   '--pitch'          , '0',
+                   '--yaw'            , '0',
+                   '--frame-id'       , 'base_link',
+                   '--child-frame-id' , 'zed2i_camera_center'],
+    )
+
+    return LaunchDescription([
+        tf_base_link_ned_to_base_link_seu,
+        tf_base_link_to_lidar,
+        tf_base_link_to_zed2_camera_center,
+        echo_tf_static
+    ])