Sotp publishing tf /odom from Gazebo

asked 2011-11-03 23:59:28 -0600

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Hi,

I've asked a related question when I needed to put gmapping, laser_scan_matcher and stageros working together. The problem was that but stageros and laser_scan_matcher publish the odom->base_footprint. I solved the problem by going to the stageros.cpp and stop the publish of the transform.

But know I want to make a more evolved simulation including IMU and Cameras and wanted to try Gazebo, but the same problem occurs and I cannot find where modified Gazebo to stop publishing.

Has anyone had the same problem???

Thanks in advance

P.S. I think will look in the Pr2 simulation perhaps there they have a similiar problem

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answered 2012-03-27 09:48:59 -0600

tfoote

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The quickest way to do this is to remap the topic to an unused one.

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answered 2012-03-27 10:00:09 -0600

hsu
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updated 2012-03-27 10:01:45 -0600

Tully's way is quicker, but if you are curious where the transform comes from, I believe the pr2 odometry mechanism controller is responsible for publishing the base_footprint-odom transform. You can also edit pr2 controller configuration for gazebo and disable the base_odometry controller from loading in pr2_default_controllers.launch.

similarly for pr2, just do the same for pr2 controller configuration.

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