Add TF frames of our robot in config files

[Gabryss]

Is your feature request related to a problem? Please describe. I have a complete robotic stack working so far but I would like to change my SLAM algorithm for GLIM. However, it is not possible for me as GLIM create different TF frames as the ones I use (see the screenshot attached). I would then like to specify my own IMU frame and LiDAR frame and link the odom with my base_footprint frame.

Describe the solution you'd like Would it be possible to specify a link to the Tf frame on the config_ros.json file or the config_sensor.json file. The ROS 2 convention ask for a link map->odom->base_footprint however some people use map->odom->base_link. Would it be possible to specify this in the config file ?

Additional context In addition, I can not simply rename my current frames as this will break my other algorithm running on the rover.

[koide3]

For now, you need to change the hardcoded names in https://github.com/koide3/glim_ros2/blob/973f1956d9090ae48d231aea1c01defce7fb1413/src/glim_ros/rviz_viewer.cpp#L18 . You can set a dummy frame name to imu_frame_id and connect it with base_footprint.

I'm recognizing this a very poor way. It must be configurable. I'm thinking of adding the following parameters to the config to better support TF. Do you think it would suffice for your situation?

• imu_frame_id : IMU frame
• lidar_frame_id : LiDAR frame
• odom_frame_id : Odom frame
• world_frame_id : Map frame
• robot_root_frame_id : Root frame of the robot (e.g., base_footprint). root -> imu transformation must be provided through TF so that GLIM can address the transformation.

Then, GLIM should publish a TF tree like map -> odom -> robot_root and lidar -> imu. I might be good to make lidar -> imu optional for the case the user already has a TF tree for this part.

[koide3]

I added parameters to change TF frame names https://github.com/koide3/glim_ros2/pull/28 .

[Gabryss]

Hello Koide, Thank you so much, I can't wait to try this!