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v1.2.0: - Create an ODS node to publish ODS data:

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@lola-masson lola-masson released this 15 Nov 10:36

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.
  • 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 the TOF_INFO buffer is requested, instead of the INTRINSIC buffer.
  • Add a config_file parameter. It should be formatted in JSON and will be used to configure the device when the CONFIGURE state is triggered.
  • Transforms:
    • The cloud_link was renamed to ifm_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 (now ifm_base_link), and the mounting_link and optical_link are fixed.
    • The mounting_link to optical_link transform is read when the first TOF_INFO or RGB_INFO buffer is received, and remains constant.
    • The ifm_base_link to mounting_link transform is published once when the first TOF_INFO or RGB_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