slam_mapping_origin tf uses hw_api orientation by default

config/public/transform_manager/transform_manager.yaml

@@ -32,8 +32,18 @@ mrs_uav_managers:
       parent: "fcu" # fcu should be the parent if using the default inverted mrs tf tree convention with fcu as the root of the tf tree
       child: "fcu_untilted"
 
+    slam_mapping_origin_tf:
+      enabled: true
+      lateral_topic: "slam/odom" # name of the topic used for x, y components of the tf (expects nav_msgs/Odometry topic type)
+      altitude_topic: "slam/odom" # name of the topic  used for z components of the tf (expects nav_msgs/Odometry topic type)
+      orientation_topic: "hw_api/orientation" # name of the topic  used for orientation components of the tf (expects geometry_msgs/Quaternion topic type)
+      inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
+      custom_frame_id:
+        enabled: true
+        frame_id: "slam_mapping_origin"
+
+
     # the list of additional source topics from which the tfs will be constructed
-    # tf_sources: ["hw_api_raw", "aloam_mapping"]
     tf_sources: []
 
     # first available tf source from this list will produce the utm and world origin tfs
@@ -49,18 +59,6 @@ mrs_uav_managers:
       inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
       republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames
 
-    aloam_mapping:
-      odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
-      tf_from_attitude: # used for transforming velocities before full transform is available
-        enabled: false
-      namespace: "slam" # the namespace of the topic (usually the node that publishes the topic)
-      utm_based: false # if true, will publish tf to utm_origin
-      inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention)
-      custom_frame_id:
-        enabled: true
-        frame_id: "slam_mapping_origin"
-      republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames
-
     gps_garmin:
       odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type)
       tf_from_attitude: # used for transforming velocities before full transform is available