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feat: add landmarkConfirmed node to the bt_treenodes - #39
ashishagain wants to merge 7 commits into
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| namespace vortex_bt_nodes::map { | ||
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| /** |
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fix typo should be observed
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Is this the fix you referred to?
| const auto map_in_odom = | ||
| map_->lookup(map_->odom_frame(), map_->frame_name("map")); |
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Instead of looking up "map" by name, you can use map_->map_to_odom(). It uses the frame the landmark map is actually published in, and returns nullopt before the first map arrives. It also does the yaw math for you:
if (yaw_deg) {
const auto goal_in_odom =
map_->map_to_odom(make_pose(0.0, 0.0, 0.0, *yaw_deg * M_PI / 180.0));
if (!goal_in_odom) {
spdlog::warn("[{}] map is not in TF", name());
return std::nullopt;
}
yaw = yaw_of(*goal_in_odom);
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Can you verify it is now fixed?
CurryMonsters
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CurryMonsters
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Also put the corresponding nodes into their respective folders
Added new feature to confirm landmark identifications. Made a node called LamdmarkConfirmation.