TF Tree from fixposition_driver to support NAV2.

[RamanaBotta]

What Does This PR Do?

This PR facilitates the creation of a TF tree that integrates seamlessly with nav2 and republishes odom and gps topics using the correct message types and headers. Additionally, it provides two services, FromLL and ToLL, ensuring compatibility with robot_localization.

How Does It Work?

• The node leverages the transforms provided by fixposition_driver, renames the frames, and republishes them.
• It publishes a TF tree in the structure:
  world -> map -> odom -> base_link
• It republishes the /odom topic, which is crucial for navigation.

How to Test?

1. Launch the fixposition_driver_ros2 node:

ros2 launch fixposition_driver_ros2 tcp.launch

2. Run the fixposition_tf_publisher_ros2 node:

ros2 run fixposition_tf_publisher_ros2 fixposition_tf_publisher

TODOs

• Replace the current dummy transform (map -> odom) with an accurate TF.
• Implement a C++ version of the node.

Screenshots

Services

The node provides the following services:

TF tree

Here is the resulting TF tree:

[fgarciacardenas]

Hi @RamanaBotta,

Thank you for your contribution, and apologies for the delayed response.

This is already supported by the updated ROS 2 driver and documented in our Nav2 tutorial, so we will close this PR for now. Still, we really appreciate your initiative and the effort you put into this.

Thanks again! 🙂