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Add param to reduce TF warnings in VRX #1107

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Dec 9, 2023
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Add param to reduce TF warnings in VRX #1107

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12 changes: 8 additions & 4 deletions NaviGator/mission_control/navigator_launch/launch/vrx/vrx_tf.launch
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Original file line number Diff line number Diff line change
@@ -1,5 +1,8 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- Silent unnecessary TF warnings about missing joint states or missing transforms (cred: osrf/vrx#340)-->
<rosparam param="silent_tf_failure">true</rosparam>

<node pkg="robot_state_publisher" name="robot_state_publisher" type="robot_state_publisher">
<param name="use_tf_static" value="false" />
</node>
Expand All @@ -11,9 +14,10 @@
</rosparam>
</node>

<!--Publishes connection between wamv/imu_wamv_link and wamv/base_link. Same for wamv/gps_wamv_link.-->
<node pkg="tf2_ros" type="static_transform_publisher" name="imu_base_link_fix" args="0.3 -0.2 1.3 0 0 0 1 wamv/base_link wamv/imu_wamv_link" />
<node pkg="tf2_ros" type="static_transform_publisher" name="gps_base_link_fix" args="-0.85 0 1.3 0 0 1 wamv/base_link wamv/ins_link" />
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_enu_fix" args="0 0 0 0 0 0 1 enu wamv/base_link" />

<!--Publishes connection between wamv/imu_wamv_link and wamv/base_link. Same for wamv/gps_wamv_link.-->
<node pkg="tf2_ros" type="static_transform_publisher" name="imu_base_link_fix" args="0.3 -0.2 1.3 0 0 0 1 wamv/base_link wamv/imu_wamv_link" />
<node pkg="tf2_ros" type="static_transform_publisher" name="gps_base_link_fix" args="-0.85 0 1.3 0 0 1 wamv/base_link wamv/ins_link" />
<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_enu_fix" args="0 0 0 0 0 0 1 enu wamv/base_link" />

</launch>
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