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simple_offboard: default reference frames

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To simplify running with rosrun
This commit is contained in:
Oleg Kalachev
2022-01-30 00:37:12 +03:00
parent d18ca32688
commit 6d68d06787
2 changed files with 7 additions and 3 deletions
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3
clover/launch/clover.launch
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@@ -47,9 +47,6 @@
<!-- simplified offboard control -->
<node name="simple_offboard" pkg="clover" type="simple_offboard" output="screen" clear_params="true">
<param name="reference_frames/body" value="map"/>
<param name="reference_frames/base_link" value="map"/>
<param name="reference_frames/navigate_target" value="map"/>
<param name="reference_frames/main_camera_optical" value="map"/>
</node>

7
clover/src/simple_offboard.cpp
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@@ -873,6 +873,13 @@ int main(int argc, char **argv)
nh_priv.param<string>("body_frame", body.child_frame_id, "body");
nh_priv.getParam("reference_frames", reference_frames);
// Default reference frames
std::map<string, string> default_reference_frames;
default_reference_frames[body.child_frame_id] = local_frame;
default_reference_frames[fcu_frame] = local_frame;
if (!target.child_frame_id.empty()) default_reference_frames[target.child_frame_id] = local_frame;
reference_frames.insert(default_reference_frames.begin(), default_reference_frames.end()); // merge defaults
state_timeout = ros::Duration(nh_priv.param("state_timeout", 3.0));
local_position_timeout = ros::Duration(nh_priv.param("local_position_timeout", 2.0));
velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));