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Update odom transform to include crazyflie name #557

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Update odom transform to include crazyflie name #557

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182af34
Update odom transform to include crazyflie name
knmcguire Aug 29, 2024
9fa9282
Update simple mapper example as well
knmcguire Aug 29, 2024
0eceb1d
update nav2 params
knmcguire Aug 29, 2024
f515af9
Update multiranger_mapping_launch.py
knmcguire Aug 29, 2024
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2 changes: 1 addition & 1 deletion crazyflie/scripts/crazyflie_server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -571,7 +571,7 @@ def _log_odom_data_callback(self, timestamp, data, logconf, uri):

t_base = TransformStamped()
t_base.header.stamp = self.get_clock().now().to_msg()
t_base.header.frame_id = 'odom'
t_base.header.frame_id = cf_name +'/odom'
t_base.child_frame_id = cf_name
t_base.transform.translation.x = x
t_base.transform.translation.y = y
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2 changes: 1 addition & 1 deletion crazyflie/scripts/simple_mapper_multiranger.py
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Expand Up @@ -47,7 +47,7 @@ def __init__(self):
t_map = TransformStamped()
t_map.header.stamp = self.get_clock().now().to_msg()
t_map.header.frame_id = 'map'
t_map.child_frame_id = 'odom'
t_map.child_frame_id = robot_prefix + '/odom'
t_map.transform.translation.x = 0.0
t_map.transform.translation.y = 0.0
t_map.transform.translation.z = 0.0
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4 changes: 2 additions & 2 deletions crazyflie_examples/config/nav2_params.yaml
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Expand Up @@ -100,7 +100,7 @@ local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
global_frame: cf1/odom
robot_base_frame: cf1
use_sim_time: true
rolling_window: true
Expand Down Expand Up @@ -226,4 +226,4 @@ waypoint_follower:
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
waypoint_pause_duration: 200
2 changes: 1 addition & 1 deletion crazyflie_examples/launch/multiranger_mapping_launch.py
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Expand Up @@ -46,7 +46,7 @@ def generate_launch_description():
),
Node(
parameters=[
{'odom_frame': 'odom'},
{'odom_frame': 'cf231/odom'},
{'map_frame': 'map'},
{'base_frame': 'cf231'},
{'scan_topic': '/cf231/scan'},
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