[Task1]: TF frame tree disconnection in non-ground-truth mode

[tongtybj]

I found that if I use the following non-ground-truth-mode in task1, there is a disconnection in tf frame tree(frames_non_ground_truth.pdf).
roslaunch jsk_mbzirc_tasks jsk_mbzirc_task_1.launch use_ground_truth:=false
frames_non_ground_truth.pdf.
And the "/nav" is fixed at "/world", which "/nav" is the start point of the uav(x:-65m, y: 20m), and "/world" is the the center point of arena.

In comparison, under ground-truth-mode, all frames are connected(frames_ground_truth.pdf)
frames_ground_truth.pdf

I will send a PR to fix the tf problem.

[tongtybj]

In hector theory, the "world" means the point where longtitude = 0 and latitude = 0, while the "nav" is the point calculated only by GPS. So in our challenge, the center point of arena does not coincide with the "world" frame.

We have to calculate the offset between the GPS value and relative position of arena(x:-65m, y:20m) in terms of the start point.

[k-okada]

you can define "center_of_the_world"(longitude = 0 and latitude = 0) and
"center_of_the_arena", if current tf '/world' is center of arena and GPS
publishes the point relative to the center of world, publish the tf between
"center of the world" and "center of arena"

◉ Kei Okada

On Thu, Jun 2, 2016 at 7:28 PM, 趙 漠居 [email protected] wrote:

In hector theory, the "world" means the point where longtitude = 0 and
latitude = 0, while the "nav" is the point calculated only by GPS. So in
our challenge, the center point of arena does not coincide with the "world"
frame.

We have to calculate the offset between the GPS value and relative
position of arena(x:-65m, y:20m) in terms of the start point.

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[k-okada]

or consider center of the world is the center of the arena

◉ Kei Okada

On Thu, Jun 2, 2016 at 7:36 PM, Kei Okada [email protected]
wrote:

you can define "center_of_the_world"(longitude = 0 and latitude = 0) and
"center_of_the_arena", if current tf '/world' is center of arena and GPS
publishes the point relative to the center of world, publish the tf between
"center of the world" and "center of arena"

◉ Kei Okada

On Thu, Jun 2, 2016 at 7:28 PM, 趙 漠居 [email protected] wrote:

In hector theory, the "world" means the point where longtitude = 0 and
latitude = 0, while the "nav" is the point calculated only by GPS. So in
our challenge, the center point of arena does not coincide with the "world"
frame.

We have to calculate the offset between the GPS value and relative
position of arena(x:-65m, y:20m) in terms of the start point.

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