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Fix TF broadcasting for the detected AprilTags #64

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Fix TF broadcasting for the detected AprilTags #64

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4 changes: 3 additions & 1 deletion isaac_ros_apriltag/include/isaac_ros_apriltag/apriltag_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,10 +81,12 @@ class AprilTagNode : public rclcpp::Node
message_filters::Synchronizer<ExactPolicy> camera_image_sync_;

// Publishers
const rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr tf_pub_;
const rclcpp::Publisher<isaac_ros_apriltag_interfaces::msg::AprilTagDetectionArray>::SharedPtr
detections_pub_;

// TF broadcaster
std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;

struct CUAprilTagImpl;
struct VPIAprilTagImpl;
struct AprilTagImpl;
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8 changes: 5 additions & 3 deletions isaac_ros_apriltag/src/apriltag_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -353,7 +353,7 @@ struct AprilTagNode::VPIAprilTagImpl : AprilTagNode::AprilTagImpl
}

node.detections_pub_->publish(msg_detections);
node.tf_pub_->publish(tfs);
node.tf_broadcaster_->sendTransform(tfs.transforms);

// Cleanup
CHECK_STATUS(vpiArrayUnlock(detections_pose_array));
Expand Down Expand Up @@ -532,7 +532,7 @@ struct AprilTagNode::CUAprilTagImpl : AprilTagNode::AprilTagImpl
}

node.detections_pub_->publish(msg_detections);
node.tf_pub_->publish(tfs);
node.tf_broadcaster_->sendTransform(tfs.transforms);
}

~CUAprilTagImpl()
Expand All @@ -555,7 +555,6 @@ AprilTagNode::AprilTagNode(const rclcpp::NodeOptions & options)
image_sub_{},
camera_info_sub_{},
camera_image_sync_{ExactPolicy{3}, image_sub_, camera_info_sub_},
tf_pub_(create_publisher<tf2_msgs::msg::TFMessage>("tf", rclcpp::QoS(100))),
detections_pub_{create_publisher<isaac_ros_apriltag_interfaces::msg::AprilTagDetectionArray>(
"tag_detections", rclcpp::QoS(1))}
{
Expand Down Expand Up @@ -583,6 +582,9 @@ AprilTagNode::AprilTagNode(const rclcpp::NodeOptions & options)
throw std::runtime_error(os.str());
}

// Create the TF broadcaster
tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(this);

// Setup subscripts
camera_image_sync_.registerCallback(
std::bind(
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