map_tf_generator#
Purpose#
This node broadcasts viewer frames for visualization of pointcloud map in Rviz.
The position of viewer frames is the geometric center of input pointclouds.
Note that there is no module to need viewer frames and this is used only for visualization.
Inner-workings / Algorithms#
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
/map/pointcloud_map |
sensor_msgs::msg::PointCloud2 |
Subscribe pointcloud 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.