This ROS node listens to Motion Reference Unit topics and publishes transforms to /tf. Odometry is also published.
Multiple sensors can be configured in a priority list and the node can fallback to secondary sensors if the primary one stops providing data.
This node is designed for integrated sensors that combine a GPS with an IMU to provide complete position and attitude solutions. It expects input topics to be synchronized. In other words, they have the exact same timestamp.
Each sensor is expected to publish on three topics:
- position:
sensor_msgs/NavSatFix - orientation:
sensor_msgs/Imu - velocity:
geometry_msgs/PoseWithCovarianceStamped
Only the linear component of the velocity message is used. It describes velocity of the sensor in an ENU frame. The frame_id should reflect the sensor's frame.
A map frame is created centered on the first position fix. An earth frame is also created and a transformation from ECEF to ENU used by the map frame is published. A null transformation from map to odom is also published. Finally, a transformation from odom to base_link is published with each sensor update.
Additional frames are published which may be useful in special cases, such as a sensor that publishes data that is already corrected for pitch and roll. The base_link_north_up represents a frame at the base_link location without any orientation applied. A level frame with only heading applied is also published as base_link_level.
A list of sensors which will be used in order. Each sensor entry has a name and a map of topics.
mru_transform/sensors:
- name: posmv
topics: { position: 'sensors/posmv/position', orientation: 'sensors/posmv/orientation', velocity: 'sensors/posmv/velocity'}
- name: gps
topics: { position: 'sensors/gps/position', orientation: 'sensors/heading', velocity:
'sensors/gps/velocity'}
If no sensors are found, a default sensor will be created with topics position, orientation and velocity.
Override the frame_id's which default to base_link, map and odom.
The topic used to publish odometry messages. Defaults to odom.