refactoring the entire code

ctu-mrs · Apr 19, 2024 · e771abe · e771abe
1 parent 65c019d
commit e771abe
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Showing 3 changed files with 274 additions and 119 deletions.
diff --git a/launch/imu_transformer_simulation.launch b/launch/imu_transformer_simulation.launch
@@ -0,0 +1,29 @@
+<launch>
+
+  <arg name="UAV_NAME" default="$(optenv UAV_NAME uav1)" />
+
+  <group ns="$(arg UAV_NAME)" >
+
+  <!-- <arg name="t265_base_frame" default="$(arg UAV_NAME)/t265/link" /> -->
+  <!-- <arg name="t265_fcu_frame" default="$(arg UAV_NAME)/t265/fcu" /> -->
+  <!-- <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu" /> -->
+
+<!--//{ publish static tfs -->
+    <!-- tf for transforming t265 imu to fcu frame (not connected to main tf tree) -->
+    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="tf_t265_to_fcu" args="-0.055 0.0 -0.065 0.0 0.0 0.0 $(arg t265_base_frame) $(arg t265_fcu_frame)" /> --> 
+
+<!--//}-->
+
+<!--//{ transforms imu measurements to fcu frame -->
+    <node name="imu_transformer" pkg="imu_transformer" type="imu_transformer_node" output="screen" >
+      <!-- <param name="target_frame" type="str" value="$(arg t265_fcu_frame)" /> -->
+      <param name="target_frame" type="str" value="$(arg UAV_NAME)/fcu" />
+
+      <remap from="imu_in/data" to="vio/imu" />
+      <remap from="imu_out/data" to="vio/imu_fcu" />
+    </node>
+<!--//}-->
+
+  </group>
+
+</launch>
diff --git a/launch/vins_republisher_openvins_bluefox.launch b/launch/vins_republisher_openvins_bluefox.launch
@@ -29,7 +29,7 @@
       <!-- ================= Static transformations ================= -->
     <!-- TF between the VINS world frame and MRS VINS world frame -->
     <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 1.5708 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" /> -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 3.1415926535 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" />
+    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 3.1415926535 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" /> -->
 
     <!-- TF between the FCU of the UAV and the VINS body (IMU) frame -->
     <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_fcu_to_mrs_fcu" args="0.085 0.0 0.13 -1.5708 0.0 -1.5708 $(arg fcu_frame) $(arg vins_fcu_front_frame)" />