Tutorial fixes and API change #15
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henrygerardmoore
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Can't figure out clang tidy on humble atm. I tried getting it to use clang-tidy-18 but for some reason can't get that installing in the dockerfile even though it works locally. For now, let's just ignore that and fix it later. |
rlpratt12
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Jan 10, 2025
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Tutorial runs, code changes look good.
questions for my understanding:
- where are these april_x tag transforms created? (eg, how does it know where they are w.r.t. the CoM?)
- I assume deleted initializeStateEstimation() because you're just not using it? That wasn't related to this change right?
Co-authored-by: Richard Pratt <43280770+rlpratt12@users.noreply.github.com>
It's published in the apriltag_simulator.cpp file. They're just hardcoded in there. Stand-in for a state publisher or something was my intention.
Yep, exactly right. |
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This should fix fuse's tutorial (that I broke with recent API changes) and allows us to define a frame to use as the estimation frame. Thus, fuse won't try to estimate when it shouldn't be able to. Additionally, allows tfs to be defined in either 'direction' and automatically uses them how they should be used.
This will enable fuse to first transform from the april tag frame to some center of mass frame and estimate that frame.