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35 sbg ros descriptions for the sbg devices #39

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35 sbg ros descriptions for the sbg devices #39

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6a2565e
Issue-35 Add Ellipse STL and URDF files
Oct 22, 2024
d729ce5
Fix transformations to use correct parents and children frames
Oct 29, 2024
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8 changes: 8 additions & 0 deletions CMakeLists.txt
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Expand Up @@ -161,6 +161,14 @@ install(DIRECTORY config/
DESTINATION share/${PROJECT_NAME}/config
PATTERN ".git" EXCLUDE)

# Install URDF and meshes
install(DIRECTORY urdf/
DESTINATION share/${PROJECT_NAME}/urdf
)

install(DIRECTORY meshes/
DESTINATION share/${PROJECT_NAME}/meshes
)

###################################
## ament specific configuration ##
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Binary file added meshes/ellipse.stl
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4 changes: 4 additions & 0 deletions package.xml
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Expand Up @@ -26,6 +26,10 @@
<depend>tf2_geometry_msgs</depend>
<depend>nmea_msgs</depend>

<build_depend>urdf</build_depend>

<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>

<member_of_group>rosidl_interface_packages</member_of_group>
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4 changes: 2 additions & 2 deletions src/message_wrapper.cpp
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Expand Up @@ -1036,7 +1036,7 @@ const nav_msgs::msg::Odometry MessageWrapper::createRosOdoMessage(const sbg_driv
pose.position.y = first_valid_northing_;
pose.position.z = first_valid_altitude_;

fillTransform(odom_init_frame_id_, odom_frame_id_, pose, transform);
fillTransform(odom_init_frame_id_, odom_base_frame_id_, pose, transform);
tf_broadcaster_->sendTransform(transform);
static_tf_broadcaster_->sendTransform(transform);
}
Expand Down Expand Up @@ -1084,7 +1084,7 @@ const nav_msgs::msg::Odometry MessageWrapper::createRosOdoMessage(const sbg_driv
if (odom_publish_tf_)
{
// Publish odom transformation.
fillTransform(odo_ros_msg.header.frame_id, odom_base_frame_id_, odo_ros_msg.pose.pose, transform);
fillTransform(odom_base_frame_id_, odo_ros_msg.header.frame_id, odo_ros_msg.pose.pose, transform);
tf_broadcaster_->sendTransform(transform);
}

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10 changes: 10 additions & 0 deletions urdf/ellipse.urdf
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@@ -0,0 +1,10 @@
<robot name="ellipse">
<link name="odom">
<visual>
<origin xyz="0 0 0" rpy="1.5708 0 -1.5708"/> <!-- Add rotation to align the 3D model with odometry -->
<geometry>
<mesh filename="package://sbg_driver/meshes/ellipse.stl" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
</robot>