map_tf_generator

Purpose

The nodes in this package broadcast the viewer frame for visualization of the map in RViz.

Note that there is no module to need the viewer frame and this is used only for visualization.

The following are the supported methods to calculate the position of the viewer frame:

• pcd_map_tf_generator_node outputs the geometric center of all points in the PCD.
• vector_map_tf_generator_node outputs the geometric center of all points in the point layer.

Inner-workings / Algorithms

Inputs / Outputs

Input

pcd_map_tf_generator

Name	Type	Description
/map/pointcloud_map	sensor_msgs::msg::PointCloud2	Subscribe pointcloud map to calculate position of viewer frames

vector_map_tf_generator

Name	Type	Description
/map/vector_map	autoware_auto_mapping_msgs::msg::HADMapBin	Subscribe vector map to calculate position of viewer frames

Output

Name	Type	Description
/tf_static	tf2_msgs/msg/TFMessage	Broadcast viewer frames

Parameters

Node Parameters

None

Core Parameters

Name	Type	Description	Default	Range
map_frame	string	The parent frame name of viewer frame	map	N/A
viewer_frame	string	Name of viewer frame	viewer	N/A

Assumptions / Known limits

TBD.