tf2_broadcaster

Ros2_control plugin publishes sensor interface values to rviz transformation tree.

Library Details

• Pluginlib-Library: tf2_broadcaster
• Plugin Type: tf2_broadcaster/Tf2Broadcaster (implements controller_interface::ControllerInterface)

Usage

Clone the repository into the src folder of your ROS2 workspace:

cd ~/your_workspace/src
git clone https://github.com/edxmorgan/tf2_broadcaster

Include in package.xml

<exec_depend>tf2_broadcaster</exec_depend>

Add to your robot controllers yaml config file in ros2_control

controller_manager:
  ros__parameters:
    update_rate: 150  #Hz

    tf2_broadcaster:
      type: tf2_broadcaster/Tf2Broadcaster


tf2_broadcaster:
  ros__parameters:
    sensor: alphaimu_sensor
    child_frame_id: base_link
    parent_frame_id: world
    position_x_state_interface : position.x 
    position_y_state_interface : position.y
    position_z_state_interface : position.z
    orientation_w_state_interface : orientation.w
    orientation_x_state_interface : orientation.x
    orientation_y_state_interface : orientation.y
    orientation_z_state_interface : orientation.z

Build Workspace

colcon build