remove gnss_frame param & use header.frame_id to get anntenna's frame_id

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
autowarefoundation · Jan 19, 2024 · 12ba7a1 · 12ba7a1
1 parent b4b0002
commit 12ba7a1
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Showing 4 changed files with 12 additions and 15 deletions.
diff --git a/sensing/gnss_poser/config/gnss_poser.param.yaml b/sensing/gnss_poser/config/gnss_poser.param.yaml
@@ -2,7 +2,6 @@
   ros__parameters:
     base_frame: base_link
     gnss_base_frame: gnss_base_link
-    gnss_frame: gnss
     map_frame: map
     buff_epoch: 1
     use_gnss_ins_orientation: true

diff --git a/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp b/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp
@@ -89,10 +89,9 @@ class GNSSPoser : public rclcpp::Node
   rclcpp::Publisher<tier4_debug_msgs::msg::BoolStamped>::SharedPtr fixed_pub_;
 
   MapProjectorInfo::Message projector_info_;
-  std::string base_frame_;
-  std::string gnss_frame_;
-  std::string gnss_base_frame_;
-  std::string map_frame_;
+  const std::string base_frame_;
+  const std::string gnss_base_frame_;
+  const std::string map_frame_;
   bool received_map_projector_info_ = false;
   bool use_gnss_ins_orientation_;
 

diff --git a/sensing/gnss_poser/schema/gnss_poser.schema.json b/sensing/gnss_poser/schema/gnss_poser.schema.json
@@ -11,11 +11,6 @@
           "default": "base_link",
           "description": "frame id for base_frame"
         },
-        "gnss_frame": {
-          "type": "string",
-          "default": "gnss",
-          "description": "frame id for gnss_frame"
-        },
         "gnss_base_frame": {
           "type": "string",
           "default": "gnss_base_link",
@@ -64,8 +59,12 @@
           "$ref": "#/definitions/gnss_poser"
         }
       },
-      "required": ["ros__parameters"]
+      "required": [
+        "ros__parameters"
+      ]
     }
   },
-  "required": ["/**"]
-}
+  "required": [
+    "/**"
+  ]
+}
diff --git a/sensing/gnss_poser/src/gnss_poser_core.cpp b/sensing/gnss_poser/src/gnss_poser_core.cpp
@@ -31,7 +31,6 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
   tf2_listener_(tf2_buffer_),
   tf2_broadcaster_(*this),
   base_frame_(declare_parameter<std::string>("base_frame")),
-  gnss_frame_(declare_parameter<std::string>("gnss_frame")),
   gnss_base_frame_(declare_parameter<std::string>("gnss_base_frame")),
   map_frame_(declare_parameter<std::string>("map_frame")),
   use_gnss_ins_orientation_(declare_parameter<bool>("use_gnss_ins_orientation")),
@@ -142,8 +141,9 @@ void GNSSPoser::callbackNavSatFix(
   // get TF from gnss_antenna to base_link
   auto tf_gnss_antenna2base_link_msg_ptr = std::make_shared<geometry_msgs::msg::TransformStamped>();
 
+  const std::string gnss_frame = nav_sat_fix_msg_ptr->header.frame_id;
   getStaticTransform(
-    base_frame_, gnss_frame_, tf_gnss_antenna2base_link_msg_ptr, nav_sat_fix_msg_ptr->header.stamp);
+    base_frame_, gnss_frame, tf_gnss_antenna2base_link_msg_ptr, nav_sat_fix_msg_ptr->header.stamp);
   tf2::Transform tf_gnss_antenna2base_link{};
   tf2::fromMsg(tf_gnss_antenna2base_link_msg_ptr->transform, tf_gnss_antenna2base_link);