Support TF Prefixing#3332
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Nir-Az merged 2 commits intorealsenseai:ros2-developmentfrom May 5, 2025
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pondersome
commented
Apr 12, 2025
pondersome
commented
- Added a tf_prefix parameter that can be used to prefix all TF frames produced by the node.
- Added documentation for this parameter and the base_frame_id parameter into the readme. Fixed some typos there too.
- Added functionality to the launch file to warn about unsupported parameters
- Added a test for the new tf_prefix parameter, but only supporting the D455 which I can test with
- To run just the new test: python3 -m pytest test_camera_tf_tests.py -v -k "TestCamera_TestTF_Prefix"
- Added a tf_prefix parameter that can be used to prefix all TF frames produced by the node. - Added documentation for this parameter and the base_frame_id parameter into the readme. Fixed some typos there too. - Added functionality to the launch file to warn about unsupported parameters - Added a test for the new tf_prefix parameter, but only supporting the D455 which I can test with - To run just the new test: python3 -m pytest test_camera_tf_tests.py -v -k "TestCamera_TestTF_Prefix"
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Can one of the admins verify this patch? |
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this is meant to address: |
ashrafk93
reviewed
Apr 23, 2025
| # Get list of supported parameters | ||
| supported_params = set(param['name'] for param in configurable_parameters) | ||
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| # Check for unsupported parameters in command line arguments |
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i see what you tried to do here, but its not alerting about arguments passed with command line.
i.e.
ros2 launch realsense2_camera rs_launch.py blabla:=true
doesn't throw any warning
for config file the check works though
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should be good to go. also added another missing parameter. the launch file still doesn't expose all available params, but i'm only adding those i've needed and tested.
ashrafk93
approved these changes
Apr 24, 2025
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