v1.2.0: - Create an ODS node to publish ODS data:
Pre-release
Pre-release
1.2.0
- Create an ODS node to publish ODS data:
- The launch file
ods.launch.py
can be used, - Add two topics,
"~/ods_info"
and"~/ods_occupancy_map_ros"
, - An example launch configuration for ODS is provided
ods_default_parameters.yaml
and can be used with the launch file, - It is expected that ODS is configured before the node is launched. Alternatively, one can use the new
config_file
parameter.
- The launch file
- Remove the
diag_mode
parameter: diagnostic is always polled periodically and published to"/diagnostic"
- Add the
GetDiag
service for polling filtered diagnostic data. - Camera info topic:
- Add a
"~/camera_info"
topic for RGB cameras. - The
"~/camera_info"
topic for the TOF cameras is published when theTOF_INFO
buffer is requested, instead of theINTRINSIC
buffer.
- Add a
- Add a
config_file
parameter. It should be formatted in JSON and will be used to configure the device when theCONFIGURE
state is triggered. - Transforms:
- The
cloud_link
was renamed toifm_base_link
, and is used as the reference ifm calibrated coordinate system for all ifm data (RGB, 3D and ODS). - The transforms between the
cloud_link
(nowifm_base_link
), and themounting_link
andoptical_link
are fixed. - The
mounting_link
tooptical_link
transform is read when the firstTOF_INFO
orRGB_INFO
buffer is received, and remains constant. - The
ifm_base_link
tomounting_link
transform is published once when the firstTOF_INFO
orRGB_INFO
buffer is received, and is only re-published subsequently if changed. - The camera node parameters related to tf publication got reworked, the new parameters are:
tf.base_frame_name
: Name for ifm reference frame
| *tf.mounting_frame_name
: Name for the mounting point frame
| *tf.optical_frame_name
: Name for the optical frame
| *tf.publish_base_to_mounting
: Whether the transform from the ifm base link to the camera mounting point should be published
| *tf.publish_mounting_to_optical
: Whether the transform from the cameras mounting point to the optical center should be published
- The