Add a parameter to enable/disable broadcast of sensor transfroms

CHANGELOG.rst

@@ -7,6 +7,8 @@ Changelog
 ============
 * [BUGFIX]: correctly align timestamps to the generated point cloud
 * Added support to enable **loop** for pcap replay + other replay config
+* Added a new launch file parameter ``pub_static_tf`` that allows uers to turn off the broadcast
+  of sensor TF transforms.
 
 
 ouster_ros v0.13.0

launch/common.launch

@@ -12,6 +12,10 @@
   <arg name="imu_frame" doc="
     sets name of choice for the os_imu tf frame, value can not be empty"/>
   <arg name="point_cloud_frame" doc="
+    when this flag is set to True, the driver will broadcast the TF transforms
+    for the imu/sensor/lidar frames. Prevent the driver from broadcasting TF transforms by
+    setting this parameter to False.."/>
+  <arg name="pub_static_tf" doc="
     which frame to be used when publishing PointCloud2 or LaserScan messages.
     Choose between the value of sensor_frame or lidar_frame, leaving this value empty
     would set lidar_frame to be the frame used when publishing these messages."/>
@@ -56,6 +60,7 @@
       <param name="~/lidar_frame" value="$(arg lidar_frame)"/>
       <param name="~/imu_frame" value="$(arg imu_frame)"/>
       <param name="~/point_cloud_frame" value="$(arg point_cloud_frame)"/>
+      <param name="~/pub_static_tf" value="$(arg pub_static_tf)"/>
       <param name="~/timestamp_mode" type="str" value="$(arg timestamp_mode)"/>
       <param name="~/dynamic_transforms_broadcast" type="bool"
         value="$(arg dynamic_transforms_broadcast)"/>

launch/driver.launch

@@ -46,6 +46,10 @@
     doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
     Choose between the value of sensor_frame or lidar_frame, leaving this value empty
     would set lidar_frame to be the frame used when publishing these messages."/>
+  <arg name="pub_static_tf" default="true" doc="
+    which frame to be used when publishing PointCloud2 or LaserScan messages.
+    Choose between the value of sensor_frame or lidar_frame, leaving this value empty
+    would set lidar_frame to be the frame used when publishing these messages."/>
 
   <arg name="no_bond" default="false"
     doc="request no bond setup when nodelets are created"/>
@@ -119,6 +123,7 @@
       <param name="~/lidar_frame" value="$(arg lidar_frame)"/>
       <param name="~/imu_frame" value="$(arg imu_frame)"/>
       <param name="~/point_cloud_frame" value="$(arg point_cloud_frame)"/>
+      <param name="~/pub_static_tf" value="$(arg pub_static_tf)"/>
       <param name="~/proc_mask" value="$(arg proc_mask)"/>
       <param name="~/scan_ring" value="$(arg scan_ring)"/>
       <param name="~/point_type" value="$(arg point_type)"/>

launch/record.launch

@@ -44,6 +44,10 @@
     doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
     Choose between the value of sensor_frame or lidar_frame, leaving this value empty
     would set lidar_frame to be the frame used when publishing these messages."/>
+  <arg name="pub_static_tf" default="true" doc="
+    which frame to be used when publishing PointCloud2 or LaserScan messages.
+    Choose between the value of sensor_frame or lidar_frame, leaving this value empty
+    would set lidar_frame to be the frame used when publishing these messages."/>
 
   <arg name="dynamic_transforms_broadcast" default="false"
     doc="static or dynamic transforms broadcast"/>
@@ -123,6 +127,7 @@
     <arg name="lidar_frame" value="$(arg lidar_frame)"/>
     <arg name="imu_frame" value="$(arg imu_frame)"/>
     <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
+    <aeg name="pub_static_tf" value="$(arg pub_static_tf)"/>
     <arg name="timestamp_mode" value="$(arg timestamp_mode)"/>
     <arg name="ptp_utc_tai_offset" value="$(arg ptp_utc_tai_offset)"/>
     <arg name="dynamic_transforms_broadcast"

launch/replay.launch

@@ -39,6 +39,10 @@
     doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
     Choose between the value of sensor_frame or lidar_frame, leaving this value empty
     would set lidar_frame to be the frame used when publishing these messages."/>
+  <arg name="pub_static_tf" default="true" doc="
+    which frame to be used when publishing PointCloud2 or LaserScan messages.
+    Choose between the value of sensor_frame or lidar_frame, leaving this value empty
+    would set lidar_frame to be the frame used when publishing these messages."/>
 
   <arg name="dynamic_transforms_broadcast" default="false"
     doc="static or dynamic transforms broadcast"/>
@@ -98,6 +102,7 @@
     <arg name="lidar_frame" value="$(arg lidar_frame)"/>
     <arg name="imu_frame" value="$(arg imu_frame)"/>
     <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
+    <arg name="pub_static_tf" value="$(arg pub_static_tf)"/>
     <arg name="timestamp_mode" value="$(arg timestamp_mode)"/>
     <arg name="ptp_utc_tai_offset" value="$(arg ptp_utc_tai_offset)"/>
     <arg name="dynamic_transforms_broadcast"

launch/replay_pcap.launch

@@ -34,6 +34,10 @@
     doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
     Choose between the value of sensor_frame or lidar_frame, leaving this value empty
     would set lidar_frame to be the frame used when publishing these messages."/>
+  <arg name="pub_static_tf" default="true" doc="
+    which frame to be used when publishing PointCloud2 or LaserScan messages.
+    Choose between the value of sensor_frame or lidar_frame, leaving this value empty
+    would set lidar_frame to be the frame used when publishing these messages."/>
 
   <arg name="dynamic_transforms_broadcast" default="false"
     doc="static or dynamic transforms broadcast"/>
@@ -94,6 +98,7 @@
     <arg name="lidar_frame" value="$(arg lidar_frame)"/>
     <arg name="imu_frame" value="$(arg imu_frame)"/>
     <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
+    <arg name="pub_static_tf" value="$(arg pub_static_tf)"/>
     <arg name="timestamp_mode" value="$(arg timestamp_mode)"/>
     <arg name="ptp_utc_tai_offset" value="$(arg ptp_utc_tai_offset)"/>
     <arg name="dynamic_transforms_broadcast"

launch/sensor.launch

@@ -47,6 +47,10 @@
     doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
     Choose between the value of sensor_frame or lidar_frame, leaving this value empty
     would set lidar_frame to be the frame used when publishing these messages."/>
+  <arg name="pub_static_tf" default="true" doc="
+    which frame to be used when publishing PointCloud2 or LaserScan messages.
+    Choose between the value of sensor_frame or lidar_frame, leaving this value empty
+    would set lidar_frame to be the frame used when publishing these messages."/>
 
   <arg name="no_bond" default="false"
     doc="request no bond setup when nodelets are created"/>
@@ -140,6 +144,7 @@
     <arg name="lidar_frame" value="$(arg lidar_frame)"/>
     <arg name="imu_frame" value="$(arg imu_frame)"/>
     <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
+    <arg name="pub_static_tf" value="$(arg pub_static_tf)"/>
     <arg name="timestamp_mode" value="$(arg timestamp_mode)"/>
     <arg name="ptp_utc_tai_offset" value="$(arg ptp_utc_tai_offset)"/>
     <arg name="_no_bond" value="$(arg _no_bond)"/>

launch/sensor_mtp.launch

@@ -51,6 +51,10 @@
     doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
     Choose between the value of sensor_frame or lidar_frame, leaving this value empty
     would set lidar_frame to be the frame used when publishing these messages."/>
+  <arg name="pub_static_tf" default="true" doc="
+    which frame to be used when publishing PointCloud2 or LaserScan messages.
+    Choose between the value of sensor_frame or lidar_frame, leaving this value empty
+    would set lidar_frame to be the frame used when publishing these messages."/>
 
   <arg name="no_bond" default="false"
     doc="request no bond setup when nodelets are created"/>
@@ -146,6 +150,7 @@
     <arg name="lidar_frame" value="$(arg lidar_frame)"/>
     <arg name="imu_frame" value="$(arg imu_frame)"/>
     <arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
+    <arg name="pub_static_tf" value="$(arg pub_static_tf)"/>
     <arg name="timestamp_mode" value="$(arg timestamp_mode)"/>
     <arg name="ptp_utc_tai_offset" value="$(arg ptp_utc_tai_offset)"/>
     <arg name="_no_bond" value="$(arg _no_bond)"/>

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.13.1</version>
+  <version>0.13.2</version>
   <description>Ouster ROS driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>

src/os_cloud_nodelet.cpp

@@ -76,20 +76,22 @@ class OusterCloud : public nodelet::Nodelet {
             dynamic_transforms_rate = 1.0;
         }
 
-        if (!dynamic_transforms) {
-            NODELET_INFO("OusterCloud: using static transforms broadcast");
-            tf_bcast.broadcast_transforms(info);
-        } else {
-            NODELET_INFO_STREAM(
-                "OusterCloud: dynamic transforms broadcast enabled with "
-                "broadcast rate of: "
-                << dynamic_transforms_rate << " Hz");
-            timer_.stop();
-            timer_ = getNodeHandle().createTimer(
-                ros::Duration(1.0 / dynamic_transforms_rate),
-                [this, info](const ros::TimerEvent&) {
-                    tf_bcast.broadcast_transforms(info, last_msg_ts);
-                });
+        if (tf_bcast.publish_static_tf()) {
+            if (!dynamic_transforms) {
+                NODELET_INFO("OusterCloud: using static transforms broadcast");
+                tf_bcast.broadcast_transforms(info);
+            } else {
+                NODELET_INFO_STREAM(
+                    "OusterCloud: dynamic transforms broadcast enabled with "
+                    "broadcast rate of: "
+                    << dynamic_transforms_rate << " Hz");
+                timer_.stop();
+                timer_ = getNodeHandle().createTimer(
+                    ros::Duration(1.0 / dynamic_transforms_rate),
+                    [this, info](const ros::TimerEvent&) {
+                        tf_bcast.broadcast_transforms(info, last_msg_ts);
+                    });
+            }
         }
 
         create_handlers(info);

src/os_driver_nodelet.cpp

@@ -62,7 +62,9 @@ class OusterDriver : public OusterSensor {
         // for OusterDriver we are going to always assume static broadcast
         // at least for now
         tf_bcast.parse_parameters(getPrivateNodeHandle());
-        tf_bcast.broadcast_transforms(info);
+        if (tf_bcast.publish_static_tf()) {
+            tf_bcast.broadcast_transforms(info);
+        }
         create_handlers();
     }
 

src/os_transforms_broadcaster.h

@@ -32,6 +32,7 @@ class OusterTransformsBroadcaster {
         lidar_frame = pnh.param("lidar_frame", std::string{"os_lidar"});
         imu_frame = pnh.param("imu_frame", std::string{"os_imu"});
         point_cloud_frame = pnh.param("point_cloud_frame", std::string{});
+        pub_static_tf = pnh.param("pub_static_tf", true);
 
         if (!is_arg_set(sensor_frame) || !is_arg_set(lidar_frame) ||
             !is_arg_set(imu_frame)) {
@@ -100,6 +101,8 @@ class OusterTransformsBroadcaster {
         return point_cloud_frame == sensor_frame;
     }
 
+    bool publish_static_tf() const { return pub_static_tf; }
+
    private:
     std::string node_name;
     tf2_ros::StaticTransformBroadcaster static_tf_bcast;
@@ -108,6 +111,7 @@ class OusterTransformsBroadcaster {
     std::string lidar_frame;
     std::string sensor_frame;
     std::string point_cloud_frame;
+    bool pub_static_tf;
 };
 
 }  // namespace ouster_ros