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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.

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).