TFInfo.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef EASYNAV_COMMON__TYPES__TFINFO_HPP_
#define EASYNAV_COMMON__TYPES__TFINFO_HPP_
 
#include <string>
 
namespace easynav
{

struct TFInfo
{
  // These parameters are designed to enforce compliance with REP-105:
  // http://www.ros.org/reps/rep-0105.html

  std::string tf_prefix {""};

  std::string map_frame {"map"};

  std::string odom_frame {"odom"};

  std::string robot_frame {"base_link"};

  std::string robot_footprint_frame {"base_footprint"};

  std::string world_frame{"earth"};
};
 
}  // namespace easynav
 
#endif  // EASYNAV_COMMON__TYPES__TFINFO_HPP_