Add frame and wgs support to pose control #88
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Signed-off-by: Artur Kamieniecki <[email protected]>
Signed-off-by: Artur Kamieniecki <[email protected]>
This was referenced Nov 22, 2024
michalpelka
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Nov 28, 2024
michalpelka
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Nov 28, 2024
Signed-off-by: Michał Pełka <[email protected]>
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I've added support for pose-stamped messages in ROS2PoseControl. In addition, I've added support for WGS84 coordinate system.
These changes resolve ##22.
These changes are based on the discussion present in #35.
I'm opening a new branch as the other one is quite old and this one contains a small refactor.
The pose control now queries the TF tree looking for a valid transform between a frame contained in the pose-stamped message and the global frame in o3de. It applies the pose from the pose-stamped to the found transform and moves the object in the scene. An empty frame will interpret the pose as O3DE world coordinates.
The WGS84 support works when the frame id in the message is
wgs84and the geopositioning component is present in the level.