This node publishes tf transforms between the frame_id set in the config file and the beacon positions in that zone.
You can use these transforms for visualization in rviz to make sure you have set up your environment correctly.
Published tf's:
- beacon.frame_id -> beacon.eid
Transforms for all zones and beacons defined in the config file. Transforms are broadcasted from the zone
frame_id to the position of the beacon in that frame
Parameters:
- ~config_file (string, default='config/zones.yml'):
Path to the configuration file of zones and beacons relative to the package directory
- ~rate (double, default=0.1):
The publishing rate of transforms in transforms per second