Merge pull request #34 from neufieldrobotics/feature/tf_prefix

will update Readme and doc field in launch files for tf_prefix usage

Author: mithundiddi

README.md

@@ -91,6 +91,11 @@ All the parameters can be set via the launch file or via the yaml config_file.
 * ~max_rate_save (bool, default: false)  
   Flag for max rate mode which is when the master triggers the slaves and saves images at maximum rate possible.  This is the multithreaded mode
 
+### node/nodelet Specific Parameters
+* ~tf_prefix (string, default: "")  
+  tf_prefix will be pre-fixed to (existing cam_*_optical_frame) frame id in ros Image msg and cameraInfo msg. default option doesn't add any prefix to frame id. eg: uas1/cam_0_optical_frame if tf_prefix:= uas1
+
+
 ### System configuration parameters
 * ~cam_ids (yaml sequence or array)  
   This is a list of camera serial numbers in the order which it would be organized.  The convention is to start from left to right.

launch/acquisition.launch

@@ -27,7 +27,7 @@
   If False, the acquisition/capture_nodelet waits for the nodelet_manager name $(arg nodelet_manager_name)" />
 
   <!-- Capture nodelet params-->
-  <arg name="tf_prefix" default="" />
+  <arg name="tf_prefix" default="" doc="will prefix (arg tf_prefix)/ to existing frame_id in Image msg and camerainfo msg" />
    <!-- start the nodelet manager if $(arg start_nodelet_manager) is true-->
   <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager" output="screen" if="$(arg start_nodelet_manager)" />
 

launch/nodelet_subscriber_example.launch

@@ -27,8 +27,7 @@
   If False, the acquisition/capture_nodelet waits for the nodelet_manager name $(arg nodelet_manager_name)" />
 
   <!-- Capture nodelet params-->
-  <arg name="tf_prefix" default="" />
-
+  <arg name="tf_prefix" default="" doc="will prefix (arg tf_prefix)/ to existing frame_id in Image msg and camerainfo msg" />
   <!-- start the nodelet manager -->
   <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager" output="screen" />
 

params/test_params.yaml

@@ -1,8 +1,10 @@
 cam_ids:
-- 18080155
+- 17197559
+- 17197547
 cam_aliases:
 - cam0
-master_cam: 18080155
+- cam1
+master_cam: 17197559
 skip: 20
 delay: 1.0
 
@@ -23,14 +25,18 @@ image_height: 1536
 image_width: 2048
 distortion_coeffs:
 - [-0.021141875266089592, -0.3733872931278025, 2.385982550579459, 3.2824571732099725]
+- [-0.021141875266089592, -0.3733872931278025, 2.385982550579459, 3.2824571732099725]
 
 
 #specified as [fx  0 cx 0 fy cy 0  0  1]
 intrinsic_coeffs:
 - [1886.9232141485886, 0.0, 604.7214878709341, 0.0, 1886.6668765711668, 493.47726714719823, 0.0, 0.0, 1.0]
+- [1886.9232141485886, 0.0, 604.7214878709341, 0.0, 1886.6668765711668, 493.47726714719823, 0.0, 0.0, 1.0]
 
 rectification_coeffs:
 - [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
+- [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
 
 projection_coeffs:
 - [913.700317, 0.000000, 953.448302, 0.000000, 0.000000, 1063.296631, 777.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
+- [913.700317, 0.000000, 953.448302, 0.000000, 0.000000, 1063.296631, 777.871993, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]