Added a ros parameter to enable/disable if a transform is broadcasted everytime and anchor is found

asa_ros/include/asa_ros/asa_ros_node.h

@@ -118,6 +118,9 @@ class AsaRosNode {
   std::string camera_frame_id_;
   std::string anchor_frame_id_;
 
+  // A flag indicating if the node will send the anchor transforms to the tf tree. Default is true.
+  bool broadcast_anchor_tf_;
+
   // Timeout to wait for TF messages, in seconds. 0.0 = instantaneous. 1.0 =
   // will wait a full second on any failed attempt.
   double tf_lookup_timeout_;

asa_ros/launch/asa_ros.launch

@@ -29,6 +29,8 @@
     <param name="camera_frame_id" value="camera_fisheye1_optical_frame" />
     <!-- Timeout to wait for TF lookups to finish. If you get a lot of TF errors but still smome valid lookups, try increasing this. -->
     <param name="tf_lookup_timeout" value="0.1" />
+    <!-- A flag indicating if the node will send the anchor transforms to the tf tree when an anchor is found. Default is true. -->
+    <param name="broadcast_anchor_tf" value="true" />
     
     <param name="account_id" value="$(arg account_id)"/>
     <param name="account_key" value="$(arg account_key)"/>

asa_ros/src/asa_ros_node.cpp

@@ -22,6 +22,7 @@ AsaRosNode::AsaRosNode(const ros::NodeHandle& nh,
       world_frame_id_("world"),
       camera_frame_id_(""),
       anchor_frame_id_(""),
+      broadcast_anchor_tf_(true),
       tf_lookup_timeout_(0.1),
       prev_frame_timestamp_() {
   initFromRosParams();
@@ -102,6 +103,7 @@ void AsaRosNode::initFromRosParams() {
   nh_private_.param("world_frame_id", world_frame_id_, world_frame_id_);
   nh_private_.param("camera_frame_id", camera_frame_id_, camera_frame_id_);
   nh_private_.param("anchor_frame_id", anchor_frame_id_, anchor_frame_id_);
+  nh_private_.param("broadcast_anchor_tf", broadcast_anchor_tf_, broadcast_anchor_tf_);
   nh_private_.param("tf_lookup_timeout", tf_lookup_timeout_,
                     tf_lookup_timeout_);
 
@@ -214,7 +216,9 @@ void AsaRosNode::anchorFoundCallback(
     T_W_A_msg.child_frame_id = anchor_id;
   }
 
-  tf_broadcaster_.sendTransform(T_W_A_msg);
+  if (broadcast_anchor_tf_) {
+    tf_broadcaster_.sendTransform(T_W_A_msg);
+  }
 
   // Also publish this as a topic.
   asa_ros_msgs::FoundAnchor anchor_msg;