C++ Programming API
Various headers provide common interfaces for the ART autonomous vehicle. They are described in the API documentation.
Nodes
vehicle_static_tf
Broadcast static transforms for various devices in the /vehicle frame of reference. Some ROS components require that to be done about once every 10 seconds.Provided tf Transforms
/vehicle → /front_sick- front Sick 2D LIDAR
- rear Sick 2D LIDAR
- Velodyne 3D LIDAR
- front right camera mounted under the Velodyne.
Usage
rosrun art_common vehicle_static_tf