Need help setting tf links on an iris


I have a project using an iris with a custom depth camera. And I need some help setting up static transformers between the components. Currently the tf links are setup like this:

frames.pdf (12.2 KB)

‘iris_0/base_link’ is the center of my UAV.

The transforms currently done are the one by MAVROS and these:

<node pkg=“tf” type=“static_transform_publisher” name="$(arg ns_0)_base_link" args="-35 5 0 0 0 0 base_link $(arg ns_0)/base_link 100" />
<node pkg=“tf” type=“static_transform_publisher” name="$(arg ns_0)_camera" args=“0.1 0 0 1.57079633 3.14159265 1.57079633 $(arg ns_0)/base_link $(arg ns_0)/camera_iris_depth_optical_center_link 100” />

The values -35, 5 and 0 are the spawn location of the UAV.

I have no clue where I should reference from, currently I take the ‘base_link’, but what is the difference from taking ‘map’ or ‘odom’? The goal of my project is using multiple UAVs, thats why there is a ‘iris_0’ prefix.

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You should enable the tf publisher from mavros package. Edit the px4_config.yaml
settings to enable mavros publishing tf from map to baselink based on global or local position

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