sensor_processor
File
./src/sensor_processor.cpp
Summary
Node that republishes sensor topics with a corrected frame id. Fixes issues where base_footprint and base link are not properly connected, causing sensor topics to contain invalid frame ids.
Topics
Publishes
/camera/unfiltered_image_raw: Just a plain republish of image_raw with its frame_id set to "camera_link".
Subscribes
/camera/image_raw: The raw image (not-debayerd) from the camera node/gazebo. Remap this to whatever camera you want to correct.
Potential Improvements
Investigate modularising how sensors are enabled, and include more sensors.
Launch
TBD
standard launch file, just make sure to remap all topics to what you need for your bot.