How to create a static tf from artags to map frame?
Hi,
I am using the ar_track_alvar package to detect artags placed in my environment.
When the tags are detected I get a new frame like "ar_marker_1" and this is linked to the robots camera frame.
What I want to do is basically place many tags in the environment and move the robot around and calculate the odometry using an EKF of the robot_localisation package. The input to the EKF would be the output from the ar_track_alvar package which gives how far the robot is from the tags (so relative to the tags).
I am not able to figure out how to create a static tf that links the artag frames to a world frame (say map frame) which would then help the EKF node to calculate the odometry.
This is my EKF launch parameters
frequency: 30
sensor_timeout: 1
two_d_mode: true
debug: false
publish_tf: true
publish_acceleration: false
map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: map
dynamic_process_noise_covariance: true
pose0: marker1
pose0_config: [true, true, true,
true, true, true,
false, false, false,
false, false, false,
false, false, false]
pose0_differential: false
pose0_relative: false
pose0_queue_size: 40
pose0_nodelay: false
pose0: marker2
pose0_config: [true, true, true,
true, true, true,
false, false, false,
false, false, false,
false, false, false]
pose0_differential: false
pose0_relative: false
pose0_queue_size: 40
pose0_nodelay: false
pose0: marker3
pose0_config: [true, true, true,
true, true, true,
false, false, false,
false, false, false,
false, false, false]
pose0_differential: false
pose0_relative: false
pose0_queue_size: 40
pose0_nodelay: false
pose0: marker4
pose0_config: [true, true, true,
true, true, true,
false, false, false,
false, false, false,
false, false, false]
pose0_differential: false
pose0_relative: false
pose0_queue_size: 40
pose0_nodelay: false
process_noise_covariance:
[0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ...