Remove/rename map and anchor frames broadcast

[pietropier1]

Hello,

I have a question regarding the static transforms between the camera, map, and anchor frames. I need to disable them as they are interfering with the overall tf tree. I removed the static broadcaster from SICKPublisher.cpp, but I still see these frames being published. I cannot seem to find any other point in the code that sets these frames, any suggestion? If not possible to remove them, it would be nice to have the possibility to rename them, as having "map" as a parent frame is a rather aggressive constraint.

Thank you in advance for your help.

[xfealal]

Hello @pietropier1,

Have a look at this pull request.
Especially these changes which add an option to enable/disable the static transform broadcasting.
We'll incorporate the changes of the pull request in the next release soon.

Also you can rename the transforms how you see fit for your application.
Do you have a suggestion for the renaming which would benefit the general user?

Best regards.

[pietropier1]

Hi @xfealal ,

Thank you for the replay. The change in the PR does pretty much what I did in my fork. I realized I was still seeing the frames because they were latched on tf_static.

As far as renaming, my understanding is that anchor has same orientation as camera_link, only centered at the focal point. Perhaps focal_link? As far as renaming suggestions for map, I believe its name is as much application-dependent as the value of the rotation/translation, and should be entirely user-defined (pretty much like this, just to grab a random example which also has a tf_broadcast toggle param).

Best,