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_nodeoutputs the geometric center of all points in the PCD.vector_map_tf_generator_nodeoutputs 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 | Default Value | Explanation |
|---|---|---|---|
viewer_frame |
string | viewer | Name of viewer frame |
map_frame |
string | map | The parent frame name of viewer frame |
Assumptions / Known limits#
TBD.