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Choose to broadcast TF from parameters #543

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64f33df
choose to publish or not the odom to lidar TF
IIRAI Jun 10, 2025
80d86c4
choose to publish or not the odom to base link TF
IIRAI Jun 10, 2025
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4 changes: 4 additions & 0 deletions config/params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -91,3 +91,7 @@
globalMapVisualizationSearchRadius: 1000.0 # meters, global map visualization radius
globalMapVisualizationPoseDensity: 10.0 # meters, global map visualization keyframe density
globalMapVisualizationLeafSize: 1.0 # meters, global map visualization cloud density

# TF
publishOdomToLidarTF: true # publish odom to lidar_link frame TF
publishOdomToBaseTF: true # publish odom to base link frame TF
10 changes: 10 additions & 0 deletions include/lio_sam/utility.hpp
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Expand Up @@ -152,6 +152,10 @@ class ParamServer : public rclcpp::Node
float globalMapVisualizationPoseDensity;
float globalMapVisualizationLeafSize;

// TF
bool publishOdomToLidarTF;
bool publishOdomToBaseTF;

ParamServer(std::string node_name, const rclcpp::NodeOptions & options) : Node(node_name, options)
{
declare_parameter("pointCloudTopic", "points");
Expand Down Expand Up @@ -308,6 +312,12 @@ class ParamServer : public rclcpp::Node
declare_parameter("globalMapVisualizationLeafSize", 1.0);
get_parameter("globalMapVisualizationLeafSize", globalMapVisualizationLeafSize);

declare_parameter("publishOdomToLidarTF", true);
get_parameter("publishOdomToLidarTF", publishOdomToLidarTF);

declare_parameter("publishOdomToBaseTF", true);
get_parameter("publishOdomToBaseTF", publishOdomToBaseTF);

usleep(100);
}

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11 changes: 7 additions & 4 deletions src/imuPreintegration.cpp
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Expand Up @@ -140,10 +140,13 @@ class TransformFusion : public ParamServer
tCur * lidar2Baselink, tf2_ros::fromMsg(odomMsg->header.stamp), odometryFrame);
tCur = tb;
}
geometry_msgs::msg::TransformStamped ts;
tf2::convert(tCur, ts);
ts.child_frame_id = baselinkFrame;
tfBroadcaster->sendTransform(ts);
if (publishOdomToBaseTF)
{
geometry_msgs::msg::TransformStamped ts;
tf2::convert(tCur, ts);
ts.child_frame_id = baselinkFrame;
tfBroadcaster->sendTransform(ts);
}

// publish IMU path
static nav_msgs::msg::Path imuPath;
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13 changes: 8 additions & 5 deletions src/mapOptmization.cpp
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Expand Up @@ -1655,10 +1655,13 @@ class mapOptimization : public ParamServer
tf2::Transform t_odom_to_lidar = tf2::Transform(quat_tf, tf2::Vector3(transformTobeMapped[3], transformTobeMapped[4], transformTobeMapped[5]));
tf2::TimePoint time_point = tf2_ros::fromRclcpp(timeLaserInfoStamp);
tf2::Stamped<tf2::Transform> temp_odom_to_lidar(t_odom_to_lidar, time_point, odometryFrame);
geometry_msgs::msg::TransformStamped trans_odom_to_lidar;
tf2::convert(temp_odom_to_lidar, trans_odom_to_lidar);
trans_odom_to_lidar.child_frame_id = "lidar_link";
br->sendTransform(trans_odom_to_lidar);
if (publishOdomToLidarTF)
{
geometry_msgs::msg::TransformStamped trans_odom_to_lidar;
tf2::convert(temp_odom_to_lidar, trans_odom_to_lidar);
trans_odom_to_lidar.child_frame_id = "lidar_link";
br->sendTransform(trans_odom_to_lidar);
}

// Publish odometry for ROS (incremental)
static bool lastIncreOdomPubFlag = false;
Expand Down Expand Up @@ -1753,7 +1756,7 @@ class mapOptimization : public ParamServer


int main(int argc, char** argv)
{
{
rclcpp::init(argc, argv);

rclcpp::NodeOptions options;
Expand Down