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Gepetto
aicp_mapping
Commits
747f4802
Commit
747f4802
authored
Apr 30, 2019
by
Maurice Fallon
Browse files
some things
parent
9141bd59
Changes
2
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aicp_ros/python/aicp_tf_bridge.py
View file @
747f4802
#!/usr/bin/env python
# link aicp's correction into tf (instead of localization manager)
# pass aicp's correction to tf
# this can be used instead of localization manager.
import
rospy
from
geometry_msgs.msg
import
TransformStamped
...
...
@@ -12,9 +13,6 @@ import math
import
numpy
import
time
pub
=
rospy
.
Publisher
(
"/tf"
,
TFMessage
,
queue_size
=
10
)
vis_pub
=
rospy
.
Publisher
(
"/visualization_marker"
,
Marker
,
queue_size
=
10
)
rospy
.
loginfo
(
"aicp_tf_bridge"
)
...
...
@@ -36,10 +34,6 @@ def handle_odom_to_map(msg):
pub
.
publish
(
tfm
)
rospy
.
init_node
(
'aicp_tf_bridge'
)
rospy
.
Subscriber
(
'/icp_tools/map_pose'
,
PoseWithCovarianceStamped
,
...
...
aicp_ros/python/aicp_tf_filter.py
View file @
747f4802
#!/usr/bin/env python
# link aicp's correction into tf (instead of localization manager)
# when playing back a bag, filter out odom-to-map from tf
# Note: need to replay the bag while remapping /tf to /tf_old
# rosbag play filename.bag --pause --clock /tf:=/tf_old
import
rospy
from
tf2_msgs.msg
import
TFMessage
...
...
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