Model

Overview

Ackeramnn model parameters and some simple calculations.

Model TF

Overview

Publishes static transformation of models (listed in yaml file). This is the simplest analogue of static_transform_publisher and joint_state_publisher, but for our own purpouses (use sdf model format).

Parameters

• model_path — path to yaml file with model config (including transform).
• period — period of transforms publishing (milliseconds).

Yaml format

- frame_id: "from"
  child_frame_id: "to"
  translation: {x: 0.0, y: 0.0, z: 0.0}
  rotation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}

Output:

• /tf [tf2_msgs/TFMessage] - transforms