minor things, fix topic

aicp_ros/launch/aicp.launch

@@ -31,6 +31,10 @@
     <param name="working_mode"                  value="debug" />
     <!-- Fixed frame (default: map, debug: map_test -->
     <param name="fixed_frame"                   value="$(arg fixed_frame)" />
+    <!-- default is /aicp/pose_corrected -->
+    <param name="output_channel"                value="/aicp/pose_corrected" />
+    <param name="lidar_channel"                   value="/point_cloud_filter/velodyne/point_cloud_filtered" />
+
     <!-- Prior map info -->
     <param name="load_map_from_file"            value="$(arg load_map_from_file)" />
     <param name="map_from_file_path"            value="$(arg map_from_file_path)" />

aicp_ros/launch/view_recorded_rosbag_aicp_simple.launch

+<?xml version="1.0" encoding="utf-8"?>
+
+<launch>
+
+  <arg name="rviz"                                  default="true"/>
+  <arg name="rviz_minimal"                          default="true"/>
+  <arg name="quadruped_name"                        default="anymal"/>
+  <arg name="quadruped_setup" default="minimal_mb_inspection_v_1_2"/>
+  <arg name="description_name"                      default="quadruped_description"/>
+  <arg name="world"                                 default="empty"/>
+
+  <param name="use_sim_time" value="true" />
+
+  <!-- Load robot description -->
+  <include file="$(find anymal_boxy_description)/launch/load.launch">
+    <arg name="description_name" value="$(arg description_name)"/>
+    <arg name="simulation"       value="false"/>
+    <arg name="velodyne"         value="true"/>
+    <arg name="realsense"        value="true"/>
+  </include>
+
+  <arg name="rviz_config_path"        default="$(find aicp_ros)/config/rviz/config_aicp.rviz"/>
+
+  <!-- rviz -->
+  <group if="$(arg rviz)">
+    <include file="$(find anymal_rviz_visualization)/launch/rviz.launch">
+      <arg name="rviz_world_path"  value="$(arg world)"/>
+      <arg name="rviz_config_path"      value="$(arg rviz_config_path)"/>
+      <arg name="tf_minimal"       value="false"/>
+    </include>
+  </group>
+
+</launch>

aicp_ros/python/aicp_tf_bridge.py

+#!/usr/bin/env python
+# example showing publishing of a pose and a point cloud
+# then moving the point cloud by moving the pose ... but not republishing 
+# the point cloud
+# this is very useful for SLAM
+
+import rospy
+from geometry_msgs.msg import TransformStamped
+from geometry_msgs.msg import *
+from tf2_msgs.msg import TFMessage
+from visualization_msgs.msg import Marker
+
+import tf
+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")
+
+
+def handle_odom_to_map(msg):
+    print "x"
+
+    #
+    tfm = TFMessage()
+    this_t = TransformStamped()
+    this_t.header = msg.header
+    this_t.header.frame_id = "odom"
+    this_t.child_frame_id = "map"
+    this_t.transform.translation = msg.pose.pose.position
+    this_t.transform.rotation = msg.pose.pose.orientation
+    tfm.transforms.append(this_t)
+
+    pub.publish(tfm)
+
+
+
+
+
+
+rospy.init_node('aicp_tf_bridge')
+rospy.Subscriber('/icp_tools/map_pose',
+                  PoseWithCovarianceStamped,
+                  handle_odom_to_map)
+rospy.spin()