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Fix parameter name and default value for base_link #149

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merged 1 commit into from
Jul 23, 2023
Merged

Fix parameter name and default value for base_link #149

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2 changes: 1 addition & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ stella_vslam_ros uses submodules. Clone it with `git clone --recursive` or downl

- `odom_frame`
- `map_frame`
- `base_link`
- `robot_base_frame`
- `camera_frame`
- `publish_tf`
- `publish_pointcloud`
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16 changes: 8 additions & 8 deletions src/stella_vslam_ros.cc
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Expand Up @@ -125,8 +125,8 @@ void system::setParams() {
map_frame_ = std::string("map");
private_nh_.param("map_frame", map_frame_, map_frame_);

base_link_ = std::string("base_footprint");
private_nh_.param("base_link", base_link_, base_link_);
robot_base_frame_ = std::string("base_link");
private_nh_.param("robot_base_frame", robot_base_frame_, robot_base_frame_);

camera_frame_ = std::string("camera_frame");
private_nh_.param("camera_frame", camera_frame_, camera_frame_);
Expand Down Expand Up @@ -178,12 +178,12 @@ void system::init_pose_callback(
return;
}

Eigen::Affine3d base_link_to_camera_affine;
Eigen::Affine3d robot_base_frame_to_camera_affine;
try {
auto base_link_to_camera = tf_->lookupTransform(
base_link_, camera_optical_frame_, msg->header.stamp,
auto robot_base_frame_to_camera = tf_->lookupTransform(
robot_base_frame_, camera_optical_frame_, msg->header.stamp,
ros::Duration(0.0));
base_link_to_camera_affine = tf2::transformToEigen(base_link_to_camera.transform);
robot_base_frame_to_camera_affine = tf2::transformToEigen(robot_base_frame_to_camera.transform);
}
catch (tf2::TransformException& ex) {
ROS_ERROR("Transform failed: %s", ex.what());
Expand All @@ -194,11 +194,11 @@ void system::init_pose_callback(
// rot_cv_to_ros_map_frame: T(map_cv -> map)
// map_to_initialpose_frame_affine: T(map -> `msg->header.frame_id`)
// initialpose_affine: T(`msg->header.frame_id` -> base_link)
// base_link_to_camera_affine: T(base_link -> camera_link)
// robot_base_frame_to_camera_affine: T(base_link -> camera_link)
// The flow of the transformation is as follows:
// map_cv -> map -> `msg->header.frame_id` -> base_link -> camera_link
Eigen::Matrix4d cam_pose_cv = (rot_ros_to_cv_map_frame_.inverse() * map_to_initialpose_frame_affine
* initialpose_affine * base_link_to_camera_affine)
* initialpose_affine * robot_base_frame_to_camera_affine)
.matrix();

const Eigen::Vector3d normal_vector = (Eigen::Vector3d() << 0., 1., 0.).finished();
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7 changes: 5 additions & 2 deletions src/stella_vslam_ros.h
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Expand Up @@ -46,8 +46,11 @@ class system {
ros::Publisher keyframes_2d_pub_;
ros::Subscriber init_pose_sub_;
std::shared_ptr<tf2_ros::TransformBroadcaster> map_to_odom_broadcaster_;
std::string odom_frame_, map_frame_, base_link_;
std::string camera_frame_, camera_optical_frame_;
std::string odom_frame_;
std::string map_frame_;
std::string robot_base_frame_;
std::string camera_frame_;
std::string camera_optical_frame_;
std::unique_ptr<tf2_ros::Buffer> tf_;
std::shared_ptr<tf2_ros::TransformListener> transform_listener_;
bool publish_tf_;
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