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 | 1 | initial version |
Your robot only needs to publish odometry topic and not odometry TF frame when using robot_pose_ekf node. As you already noticed if they both publish to TF you will end up with multiple parents for your robot's base_link, which can't happen. robot_pose_ekf subscribes to odometry and imu topics, merges them and then publishes odom_combined TF frame, which you an use in navigation stack.
| | 2 | No.2 Revision |
Your robot only needs to publish odometry topic and not odometry TF frame when using robot_pose_ekf node. As you already noticed if they both publish to TF you will end up with multiple parents for your robot's base_link, which can't happen. robot_pose_ekf subscribes to odometry and imu topics, merges them and then publishes odom_combined TF frame, which you an can use in navigation stack.
| | 3 | No.3 Revision |
Your robot only needs to publish odometry topic and not odometry TF frame when using robot_pose_ekf robot_pose_ekf node. As you already noticed if they both publish to TF you will end up with multiple parents for your robot's base_link, which can't happen. robot_pose_ekf subscribes to odometry and imu topics, merges them and then publishes odom_combined TF frame, which you can use in navigation stack.stack. Usually robot base drivers have a parameter that let's use enable/disable odometry frame broadcast on TF.
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