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Feature param transform tolerance #50

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merged 2 commits into from
Nov 14, 2023
Merged

Feature param transform tolerance #50

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c844a6c
Add param
uhobeike Nov 13, 2023
a2f0b40
Feature param transform_tolerance
uhobeike Nov 13, 2023
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1 change: 1 addition & 0 deletions config/emcl2.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
/**:
ros__parameters:
odom_freq: 20
transform_tolerance: 0.2
global_frame_id: "map"
odom_frame_id: "odom"
base_frame_id: "base_link"
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1 change: 1 addition & 0 deletions config/emcl2_quick_start.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
/**:
ros__parameters:
odom_freq: 20
transform_tolerance: 0.2
global_frame_id: "map"
odom_frame_id: "odom"
base_frame_id: "base_link"
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1 change: 1 addition & 0 deletions include/emcl2/emcl2_node.h
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Expand Up @@ -75,6 +75,7 @@ class EMcl2Node : public rclcpp::Node
bool scan_receive_;
bool map_receive_;
double init_x_, init_y_, init_t_;
double transform_tolerance_;

void publishPose(
double x, double y, double t, double x_dev, double y_dev, double t_dev, double xy_cov,
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7 changes: 5 additions & 2 deletions src/emcl2_node.cpp
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Expand Up @@ -73,6 +73,9 @@ void EMcl2Node::initCommunication(void)

this->declare_parameter("odom_freq", 20);
this->get_parameter("odom_freq", odom_freq_);

this->declare_parameter("transform_tolerance", 0.2);
this->get_parameter("transform_tolerance", transform_tolerance_);
}

void EMcl2Node::initTF(void)
Expand Down Expand Up @@ -310,11 +313,11 @@ void EMcl2Node::publishOdomFrame(double x, double y, double t)
}
tf2::convert(odom_to_map.pose, latest_tf_);
auto stamp = tf2_ros::fromMsg(scan_time_stamp_);
tf2::TimePoint transform_tolerance_ = stamp + tf2::durationFromSec(0.2);
tf2::TimePoint transform_expiration = stamp + tf2::durationFromSec(transform_tolerance_);

geometry_msgs::msg::TransformStamped tmp_tf_stamped;
tmp_tf_stamped.header.frame_id = global_frame_id_;
tmp_tf_stamped.header.stamp = tf2_ros::toMsg(transform_tolerance_);
tmp_tf_stamped.header.stamp = tf2_ros::toMsg(transform_expiration);
tmp_tf_stamped.child_frame_id = odom_frame_id_;
tf2::convert(latest_tf_.inverse(), tmp_tf_stamped.transform);

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