Add Minor QOL improvements #5
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tf2's static_transform_publisher uses the latched topic /tf_static instead of publishing repeatedly to /tf at a fixed interval. Since velodyne_tf_broadcaster is its own node, it does not interfere with the spot_ros static_transform publisher. Reference: https://wiki.ros.org/tf2_ros#static_transform_publisher
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I just noticed this - is this still waiting to be merged, @elvout ? |
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I believe the kinect stream does not need an image republisher. I'll test this branch out at noon and then open this PR to be merged. |
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Lets merge #7 first |
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This PR contains minor bug fixes and QOL improvements.
Additions
Changes
tf2instead oftf.tf2's static_transform_publisher uses the latched topic/tf_staticinstead of publishing repeatedly to/tfat a fixed interval. Sincevelodyne_tf_broadcasteris its own node, it does not interfere with thespot_rosstatic_transform publisher.Fixes