This package contains a simple example how to create a measurement publisher. It is an example for the publication of the MeasurementLocated message (fkie_measurement_msgs package) on the Enrich. To create this message, a measured value and the position are required. In this example, the measured value is subscribed to a Float32 topic.
The position can be obtained from the nav_msgs::Odometry message or tf. Odometry is used by default. To use tf, the parameter use_tf must be set to True, e.g.:
ros2 run fkie_measurement_example_enrich measurement_publisher --ros-args -p use_tf:=TrueThere also two launch files provided, one for using with odometry and another for using tf.
Additional parameters can also be set, e.g. to describe the sensor or adjust the frame IDs. See the parameter descriptions in the code or launch files for more information.
You can use this example as a starting point to create your own measurement publisher, which consumes other topic types to get the measured values.
This project is licensed under the MIT license.