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1 | initial version |
Any solution that publishes to TF is possible in theory. You can use th API to do that directly from within on of your nodes, you can use URDF+robot_state_publisher, ... I guess the question is really what are you trying to do?
Regarding the amcl demo, the amcl
node publishes a TF from odom
to map
and base_link
to map
is provided by the turtlebot driver node, but this is not about costmaps, but rather gridmaps, so not sure where this question is coming from.
2 | No.2 Revision |
Any solution that publishes to TF is possible in theory. You can use th API to do that directly from within on of your nodes, you can use URDF+robot_state_publisher, ... I guess the question is really what are you trying to do?
Regarding the amcl demo, the amcl
node publishes a TF from odom
to map
and base_link
to map
is provided by the turtlebot driver node, but this is not about costmaps, but rather gridmaps, so not sure where this question is coming from.
Edit:
If you are using amcl to localize against a gridmap, you do not need the static_transform_publisher node of the tutorial, as the transform between base_link
and map
is provided by your localization module. The static transform node is just very useful for tutorial or testing purposes or in cases where you actually want a static transform (usually the transform between base_link and map changes, unless your robot is not moving).