Publishers specification

Normally, it is required to publish the results of the WOLF estimation problem to ROS2. To do so, WOLF provides a set of publishers that can be configured in the YAML file. They can be specified in the YAML configuration file as a sequence under the publishers key. The parameters for each publisher include:

• type: the type of publisher (class name).

• package: the WOLF ROS2 package where this class is implemented (used to load the package in runtime).

• topic: the ROS2 topic to which the publisher will publish the data.

• period: the period in seconds to publish the data.

• Other parameters specific to the publisher type.

You can find a list of useful publishers in the useful WOLF ROS2 tips section.

Note

Remember that the YAML templates contains all the parameters of each class and a brief doc. You can start from the templates and modify them to suit your needs. See more information in the YAML schema section.

The following is the part of the WOLF ROS2 application example configuration file, containing the publishers specification.

publishers:
  -
    package: "wolf_ros2_node"
    type: "PublisherTf"
    topic: " "
    period: 0.1
    map_frame_id: "map"
    odom_frame_id: "odom"
    base_frame_id: "base_footprint"
    broadcast_odom: false
    broadcast_extrinsics: false
  -
    package: "wolf_ros2_node"
    type: "PublisherGraph"
    topic: "graph"
    period: 1
  -
    package: "wolf_ros2_laser"
    type: "PublisherLaserMap"
    topic: "map"
    period: 1
    map_frame_id: "map"
    update_dist_th: 0.05
    update_angle_th: 0.05
    max_n_cells: 1000000
    grid_size: 0.05
    p_free: 0.3
    p_obst: 0.8
    p_free_th: 0.2
    p_obst_th: 0.9
    discard_max_range: true