bdaiinstitute / spot_ros2 / 12395526996

52%

Build Type

push

github

Committed by web-flow

Commit Message

[SW-1658] Allow body frame to be root of TF tree (#536)

## Change Overview

The goal of this PR is to allow the body frame to be the root of the tf tree, in case you want to broadcast your own custom odometry transform to "body". Currently that's not possible as body always has either odom or vision as a parent, and a tf frame cannot have more than two parents. 

* adds new parameter `tf_root` to allow you to specify what frame will be the root of the TF tree. 
  * If unset it will default to "odom", which is the current behavior on main
  * you can set `tf_root` to "vision" or "body" and pass this in via config file, and those frames will become the TF root as expected. (All the other frames and transforms still exist, it just changes the layout of the tree). 
* Nothing about the odometry topic parent frame changes as the expectation is this should be handled by the `preferred_odom_frame` parameter.  (athough it is worth noting that this can't actually be changed currently, as it is hardcoded to be "odom" in the launchfile... https://github.com/bdaiinstitute/spot_ros2/blob/941ab5ec2/spot_driver/launch/spot_driver.launch.py#L109) 
* deleted some dead python code dealing with `preferred_odom_frame` parameter, as this was adjacent to the parameter I added. (all of this is in C++ now). 


## Testing Done

- [x] default behavior on robot unchanged
- [x] tested new parameter set to  "odom", "vision", "body" on robot and made sure TF tree matched expectations
- [x] ensure object sync/ fiducials are still read as expected as some calls there changed
- [x] updated unit tests pass

Run Details

5 of 5 new or added lines in 2 files covered. (100.0%)

440 existing lines in 1 file now uncovered.

1946 of 3802 relevant lines covered (51.18%)

27.97 hits per line