Tugbot TF Generator
Description
This tf gen (generator) node receives the tags_detections and the tag TF generated by the apriltag_ros node and publishes a new generated TF that is shifted in the z direction (distance parameter) and the x direction (shift parameter) of the tag TF. This node is specific to the Tugbot robot model and how the camera is positioned in the model.
Examples
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Input List
There are 4 parameters.
| Port Name | Message type | Callback |
|---|---|---|
enable | Bool [std_msgs-ROS1/Subscriber] | tf_gen_enable.cb |
init | Init [movai_msgs-MovAI/Init] | tf_gen_init.cb |
tag_detections | AprilTagDetectionArray [apriltag_ros-ROS1/Subscriber] | tf_gen_tag_detections.cb |
tag_tf_sub | TF [movai_msgs-ROS1/TFSubscriber] | tf_gen_tag_tf_sub.cb |
Output List
There are 1 parameters.
| Port Name | Message type |
|---|---|
| generated_tf | TF [movai_msgs-ROS1/TFPublisher] |
Parameter List
There are 6 parameters.
| Parameter | Description |
|---|---|
| apriltag_tf_suffix | The suffix of the TF generated by the apriltag_ros node. |
| camera | The camera of the tugbot model which is used to generate the tag TF. This parameter is used to rotate the generated TF according to the positioning of the front or back camera. |
| distance | The distance of the generated TF from the tag TF in the z direction of the tag TF. |
| expected_tag_id | The expected TF frame name that is generated using the apriltag_ros node. |
| generated_tf_frame | The name of the generated TF frame. |
| shift | The distance of the generated TF from the tag TF in the x direction of the tag TF. |