This is a ROS 2 package for transforming points from the dwm1001 frame to the map frame. The package and its interfaces were inspired by the navsat_transform_node from the robot_localization package.
This node transforms incoming DWM1001 tag locations (PointStamped messages) from the common dwm1001 frame to the map frame.
| Topic | Message Type | Description |
|---|---|---|
~/input/tag_position |
geometry_msgs/PointStamped |
DWM1001 tag's position in the dwm1001 frame. |
~/tf |
tf2_msgs/TFMessage |
Transform from the dwm1001 frame to the map frame. |
~/tf_static |
tf2_msgs/TFMessage |
Transform from the dwm1001 frame to the map frame. |
Note: The transform between the dwm1001 frame and the map frame can be static or dynamic as long as it's provided.
| Topic | Message Type | Frequency | Description |
|---|---|---|---|
~/output/odometry/ips |
nav_msgs/Odometry |
Event-driven | DWM1001 tag's position transformed to the map frame. The following message fields are unused: child_frame_id, pose.pose.orientation, and twist. |
position_cov- An optional parameter to hardcode the covariance for the position reporting. To use this correctly, supply a nine element array as the parameter value that represents the covariance for (x,y,z) reporting.
This node does not provide services.
This node does not provide actions.