Removed tf from fcu to rtk_antenna from sensors.launch. The tf should be

defined per individual drone in tmux session.
ctu-mrs · Nov 7, 2024 · 83ffe72 · 83ffe72
1 parent c8c26aa
commit 83ffe72
Showing 1 changed file with 0 additions and 47 deletions.
diff --git a/launch/sensors.launch b/launch/sensors.launch
@@ -1029,53 +1029,6 @@
     <include file="$(find mrs_serial)/launch/rtk.launch">
     </include>
 
-    <arg name="rtk_frame" default="$(arg UAV_NAME)/rtk_antenna" />
-    <arg name="rtk_frame_slashless" default="rtk_antenna_antenna" />
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'f330')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'f450')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'f550')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'x500')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 't650')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <group if="$(eval arg('UAV_TYPE') == 'm690')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.137 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'naki')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'dofec')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
-      <!-- TODO(HW guys) pls put correct TF values -->
-      <group if="$(eval arg('UAV_TYPE') == 'eaglemk2')">
-        <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg rtk_frame_slashless)" args="0.0 0.0 0.20 0 0 0.0 $(arg fcu_frame) $(arg rtk_frame)" />
-      </group>
-
   </group>
 <!--//}-->