Merge pull request #64 from osrf/chapulina/tf_static

Publish tf_static with transient_local durability
osrf · Jun 21, 2022 · 054230c · 054230c
2 parents 807178c + 740ff9e
commit 054230c
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Showing 4 changed files with 6 additions and 11 deletions.
diff --git a/buoy_gazebo/launch/mbari_wec.launch.py b/buoy_gazebo/launch/mbari_wec.launch.py
@@ -84,17 +84,10 @@ def generate_launch_description():
             (link_pose_gz_topic, '/tf'),
             (link_pose_gz_topic + '_static', '/tf_static'),
         ],
+        parameters=[{'qos_overrides./tf_static.publisher.durability': 'transient_local'}],
         output='screen'
     )
 
-    # Mapping initial frame
-    tf_buoy = Node(
-        package='tf2_ros',
-        executable='static_transform_publisher',
-        arguments=['0', '0', '0', '0', '0', '0', 'MBARI_WEC/Buoy', 'MBARI_WEC'],
-        condition=IfCondition(LaunchConfiguration('rviz')),
-    )
-
     # Get the parser plugin convert sdf to urdf using robot_description topic
     robot_state_publisher = Node(
         package='robot_state_publisher',
@@ -124,7 +117,6 @@ def generate_launch_description():
         rviz_launch_arg,
         gazebo,
         bridge,
-        tf_buoy,
         robot_state_publisher,
         rviz
     ])
diff --git a/buoy_gazebo/package.xml b/buoy_gazebo/package.xml
@@ -15,6 +15,7 @@
   <depend>buoy_msgs</depend>
   <depend>ignition-gazebo6</depend>
   <depend>robot_state_publisher</depend>
+  <depend>ros_ign_bridge</depend>
   <depend>ros_ign_gazebo</depend>
   <depend>rviz2</depend>
   <depend>sdformat_urdf</depend>

diff --git a/buoy_gazebo/worlds/buoy_playground.sdf b/buoy_gazebo/worlds/buoy_playground.sdf
@@ -238,14 +238,15 @@
         <publish_link_pose>true</publish_link_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
       </plugin>
 
       <plugin
         filename="ignition-gazebo-odometry-publisher-system"
         name="ignition::gazebo::systems::OdometryPublisher">
         <dimensions>3</dimensions>
         <odom_frame>MBARI_WEC/odom</odom_frame>
-        <robot_base_frame>MBARI_WEC/Buoy</robot_base_frame>
+        <robot_base_frame>MBARI_WEC</robot_base_frame>
       </plugin>
 
     </model>

diff --git a/buoy_gazebo/worlds/mbari_wec.sdf b/buoy_gazebo/worlds/mbari_wec.sdf
@@ -132,14 +132,15 @@
         <publish_link_pose>true</publish_link_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
       </plugin>
 
       <plugin
         filename="ignition-gazebo-odometry-publisher-system"
         name="ignition::gazebo::systems::OdometryPublisher">
         <dimensions>3</dimensions>
         <odom_frame>MBARI_WEC/odom</odom_frame>
-        <robot_base_frame>MBARI_WEC/Buoy</robot_base_frame>
+        <robot_base_frame>MBARI_WEC</robot_base_frame>
       </plugin>
 
     </model>