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Added tf_prefix to nodes using tf

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Mathieu Labbe
2015-06-17 16:04:06 -04:00
parent e5c0c01acc
commit 206dda272e
4 changed files with 54 additions and 2 deletions
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src/CoreWrapper.cpp
+18
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@@ -112,6 +112,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
int queueSize = 10;
bool publishTf = true;
double tfDelay = 0.05; // 20 Hz
std::string tfPrefix = "";
bool stereoApproxSync = false;
// ROS related parameters (private)
@@ -144,11 +145,28 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
pnh.param("publish_tf", publishTf, publishTf);
pnh.param("tf_delay", tfDelay, tfDelay);
pnh.param("tf_prefix", tfPrefix, tfPrefix);
pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
pnh.param("use_action_for_goal", useActionForGoal_, useActionForGoal_);
pnh.param("gen_scan", genScan_, genScan_);
pnh.param("gen_scan_max_depth", genScanMaxDepth_, genScanMaxDepth_);
if(!tfPrefix.empty())
{
if(!frameId_.empty())
{
frameId_ = tfPrefix+"/"+frameId_;
}
if(!mapFrameId_.empty())
{
mapFrameId_ = tfPrefix+"/"+mapFrameId_;
}
if(!odomFrameId_.empty())
{
odomFrameId_ = tfPrefix+"/"+odomFrameId_;
}
}
if(depthCameras <= 0 && subscribeDepth)
{
depthCameras = 1;