Canonical scan matcher with hints - TF conflict?
Hi, I have pretty poor wheel odometry, so I want to supplement it with data from the Canonical Scan Matcher. I've got the scan matcher working well in its own right, but am having trouble fusing the two data sources.
I'm already publishing a /odom frame from odometry. I'm going to feed this into ~odometry_type in the scan matcher. The problem is the scan matcher documentation says
~publish_tf (bool, default: true)
whether to publish scan matcher's estimation for the position of the base frame in the world frame as a transform. Disable this if some other node is already publishing an odometric estimation.
If I diosable this I won't be able to get TF data out of the scan matcher, but I'm already publishing odometry data. What do I do? Many thanks for any advice.
Perhaps I was unclear above - my issue is that I need to publish a transform from /odom to /base_link to feed into the canonical scan matcher. But then I also want the scan matcher to publish a transform (from /world to /base_link) but that would involve two parent nodes which ROS does not support. Does anyone know the solution?
