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frame_fix : now transforms the tf and odom message to base_link #231

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frame_fix : now transforms the tf and odom message to base_link #231

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43 changes: 34 additions & 9 deletions ros/ros1/OdometryServer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ using utils::GetTimestamps;
using utils::PointCloud2ToEigen;

OdometryServer::OdometryServer(const ros::NodeHandle &nh, const ros::NodeHandle &pnh)
: nh_(nh), pnh_(pnh) {
: nh_(nh), pnh_(pnh) , tf_buffer_(new tf2_ros::Buffer()), tf2_listener_(new tf2_ros::TransformListener(*tf_buffer_)){
pnh_.param("child_frame", child_frame_, child_frame_);
pnh_.param("odom_frame", odom_frame_, odom_frame_);
pnh_.param("publish_alias_tf", publish_alias_tf_, true);
Expand Down Expand Up @@ -103,6 +103,16 @@ OdometryServer::OdometryServer(const ros::NodeHandle &nh, const ros::NodeHandle
br.sendTransform(alias_transform_msg);
}

try
{
tf_buffer_->canTransform("os_sensor", "base_link", ros::Time::now(), ros::Duration(5.0));
os_to_base_link_tf_ = tf_buffer_->lookupTransform("os_sensor", "base_link", ros::Time(0));
}
catch (tf2::TransformException& ex)
{
ROS_ERROR("Failed to wait for transform: %s", ex.what());
}

// publish odometry msg
ROS_INFO("KISS-ICP ROS 1 Odometry Node Initialized");
}
Expand All @@ -125,6 +135,7 @@ void OdometryServer::RegisterFrame(const sensor_msgs::PointCloud2::ConstPtr &msg
const Eigen::Quaterniond q_current = pose.unit_quaternion();

// Broadcast the tf
geometry_msgs::TransformStamped result_transform ;
if (publish_odom_tf_) {
geometry_msgs::TransformStamped transform_msg;
transform_msg.header.stamp = msg->header.stamp;
Expand All @@ -137,18 +148,32 @@ void OdometryServer::RegisterFrame(const sensor_msgs::PointCloud2::ConstPtr &msg
transform_msg.transform.translation.x = t_current.x();
transform_msg.transform.translation.y = t_current.y();
transform_msg.transform.translation.z = t_current.z();
tf_broadcaster_.sendTransform(transform_msg);

tf2::Transform odom_to_sensor_tf;
tf2::fromMsg(transform_msg.transform, odom_to_sensor_tf);

tf2::Transform os_to_base_link_tf;
tf2::fromMsg(os_to_base_link_tf_.transform, os_to_base_link_tf);

tf2::Transform result_transform_tf = odom_to_sensor_tf * os_to_base_link_tf;
result_transform.transform = tf2::toMsg(result_transform_tf);

result_transform.header.stamp = msg->header.stamp;
result_transform.header.frame_id = odom_frame_;
result_transform.child_frame_id = child_frame_;
result_transform.transform.translation.z = t_current.z();
tf_broadcaster_.sendTransform(result_transform);
}

// publish trajectory msg
geometry_msgs::PoseStamped pose_msg;
pose_msg.pose.orientation.x = q_current.x();
pose_msg.pose.orientation.y = q_current.y();
pose_msg.pose.orientation.z = q_current.z();
pose_msg.pose.orientation.w = q_current.w();
pose_msg.pose.position.x = t_current.x();
pose_msg.pose.position.y = t_current.y();
pose_msg.pose.position.z = t_current.z();
pose_msg.pose.orientation.x = result_transform.transform.rotation.x;
pose_msg.pose.orientation.y = result_transform.transform.rotation.y;
pose_msg.pose.orientation.z = result_transform.transform.rotation.z;
pose_msg.pose.orientation.w = result_transform.transform.rotation.w;
pose_msg.pose.position.x = result_transform.transform.translation.x;
pose_msg.pose.position.y = result_transform.transform.translation.y;
pose_msg.pose.position.z = result_transform.transform.translation.z;
pose_msg.header.stamp = msg->header.stamp;
pose_msg.header.frame_id = odom_frame_;
path_msg_.poses.push_back(pose_msg);
Expand Down
9 changes: 9 additions & 0 deletions ros/ros1/OdometryServer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,10 @@
#include <sensor_msgs/PointCloud2.h>
#include <tf2_ros/transform_broadcaster.h>

#include <tf2/transform_datatypes.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>

namespace kiss_icp_ros {

class OdometryServer {
Expand Down Expand Up @@ -70,6 +74,11 @@ class OdometryServer {
/// Global/map coordinate frame.
std::string odom_frame_{"odom"};
std::string child_frame_{"base_link"};

//necessary for changing frames
std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
std::shared_ptr<tf2_ros::TransformListener> tf2_listener_;
geometry_msgs::TransformStamped os_to_base_link_tf_;
};

} // namespace kiss_icp_ros