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  1. You don't have to. Also, how should this work? How would AMCL know, where the second map is located?
  2. You don't have to either. Duplicating transforms is always a bad idea.
  3. yes
  4. yes. Use a static_transform_publisher (wiki). This is a simple node that publishes a static transform (yay, the name speaks for itself), that should allow you to solve your problems. Just add it to your launch file like this: <node pkg="tf" type="static_transform_publisher" name="map_to_planner_map" args="0 0 0 0 0 0 1 map planner_map 100" />

(Just wondering: Kinetic on Ubuntu 14.04?)