cartographer_ros/cartographer_ros/scripts/tf_remove_frames.py

41 lines
1.2 KiB
Python
Executable File

#!/usr/bin/python
# -*- coding: utf-8 -*-
# Copyright 2016 The Cartographer Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import rospy
from tf.msg import tfMessage
def main():
rospy.init_node('tf_remove_frames')
publisher = rospy.Publisher('/tf_out', tfMessage, queue_size=1)
remove_frames = rospy.get_param('~remove_frames', [])
def callback(msg):
msg.transforms = [
t for t in msg.transforms
if t.header.frame_id.lstrip('/') not in remove_frames and
t.child_frame_id.lstrip('/') not in remove_frames
]
publisher.publish(msg)
rospy.Subscriber('/tf_in', tfMessage, callback)
rospy.spin()
if __name__ == '__main__':
main()