Package Summary
A package that decomposes the /tf topic into multiple ones.
- Author: Zhi Yan
- License: BSD
Source: git https://github.com/yzrobot/tf_splitter.git (branch: master)
Contents
About
The tf_splitter package contains a ROS node that decomposes the /tf topic into multiple ones according to the number of robots. This package can be used in multi-robot systems to alleviate the network traffic load.
Nodes
tf_splitter
tf_splitter decomposes the /tf topic into multiple ones according to the number of robots.Subscribed Topics
/tf (tf/tfMessage)- Transform tree.
Published Topics
/<tf prefix according to the robots> (tf/tfMessage)- Splitted transform tree.
Usage
rosrun tf_splitter tf_splitter
Related Documentation
Please refer to the following paper to retrieve more information on the node:
@inproceedings{yz14simpar,
author = {Zhi Yan and Luc Fabresse and Jannik Laval and Noury Bouraqadi},
title = {Team Size Optimization for Multi-robot Exploration},
booktitle = {In Proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2014)},
pages = {438--449},
address = {Bergamo, Italy},
month = {October},
year = {2014}
}
Support
Zhi Yan, Luc Fabresse, Jannik Laval, and Noury Bouraqadi
Ecole des Mines de Douai, 59508 Douai, France
