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Addition of parameter to extract odom frame only generated by cartographer. #1813

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Addition of parameter to extract odom frame only generated by cartographer. #1813

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11 changes: 10 additions & 1 deletion cartographer_ros/cartographer_ros/node.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -306,14 +306,23 @@ void Node::PublishLocalTrajectoryData(const ::ros::TimerEvent& timer_event) {
stamped_transforms.push_back(stamped_transform);

tf_broadcaster_.sendTransform(stamped_transforms);
} else {
} else if(!trajectory_data.trajectory_options.provide_odom_frame && !trajectory_data.trajectory_options.provide_odom_frame_only) {
stamped_transform.header.frame_id = node_options_.map_frame;
stamped_transform.child_frame_id =
trajectory_data.trajectory_options.published_frame;
stamped_transform.transform = ToGeometryMsgTransform(
tracking_to_map * (*trajectory_data.published_to_tracking));
tf_broadcaster_.sendTransform(stamped_transform);
}
else if(!trajectory_data.trajectory_options.provide_odom_frame && trajectory_data.trajectory_options.provide_odom_frame_only) {
stamped_transform.header.frame_id =
trajectory_data.trajectory_options.odom_frame;
stamped_transform.child_frame_id =
trajectory_data.trajectory_options.published_frame;
stamped_transform.transform = ToGeometryMsgTransform(
tracking_to_local * (*trajectory_data.published_to_tracking));
tf_broadcaster_.sendTransform(stamped_transform);
}
}
if (node_options_.publish_tracked_pose) {
::geometry_msgs::PoseStamped pose_msg;
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2 changes: 2 additions & 0 deletions cartographer_ros/cartographer_ros/trajectory_options.cc
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Expand Up @@ -52,6 +52,8 @@ TrajectoryOptions CreateTrajectoryOptions(
options.odom_frame = lua_parameter_dictionary->GetString("odom_frame");
options.provide_odom_frame =
lua_parameter_dictionary->GetBool("provide_odom_frame");
options.provide_odom_frame_only =
lua_parameter_dictionary->GetBool("provide_odom_frame_only");
options.use_odometry = lua_parameter_dictionary->GetBool("use_odometry");
options.use_nav_sat = lua_parameter_dictionary->GetBool("use_nav_sat");
options.use_landmarks = lua_parameter_dictionary->GetBool("use_landmarks");
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1 change: 1 addition & 0 deletions cartographer_ros/cartographer_ros/trajectory_options.h
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Expand Up @@ -32,6 +32,7 @@ struct TrajectoryOptions {
std::string published_frame;
std::string odom_frame;
bool provide_odom_frame;
bool provide_odom_frame_only;
bool use_odometry;
bool use_nav_sat;
bool use_landmarks;
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4 changes: 4 additions & 0 deletions docs/source/configuration.rst
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Expand Up @@ -51,6 +51,10 @@ provide_odom_frame
If enabled, the local, non-loop-closed, continuous pose will be published as
the *odom_frame* in the *map_frame*.

provide_odom_frame_only
If enable, the local, non-loop-closed, continuous pose will be published with
*odom_frame* as root.

publish_frame_projected_to_2d
If enabled, the published pose will be restricted to a pure 2D pose (no roll,
pitch, or z-offset). This prevents potentially unwanted out-of-plane poses in
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5 changes: 5 additions & 0 deletions docs/source/ros_api.rst
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Expand Up @@ -141,6 +141,11 @@ If *provide_odom_frame* is enabled in the :doc:`configuration`, additionally a c
(i.e. unaffected by loop closure) transform between the :doc:`configured
<configuration>` *odom_frame* and *published_frame* will be provided.

If *provide_odom_frame_only* is enabled in the :doc:`configuration`,a continuous
(i.e. unaffected by loop closure) transform between the :doc:`configured
<configuration>` *odom_frame* and *published_frame* will be provided. No transform
between *map_frame* and *odom_frame* will be provided in this case.

.. _robot_state_publisher: http://wiki.ros.org/robot_state_publisher
.. _static_transform_publisher: http://wiki.ros.org/tf#static_transform_publisher
.. _cartographer_ros_msgs/FinishTrajectory: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/FinishTrajectory.srv
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