Using robot_pose_ekf in gazebo simulation

edit

Hi everyone,

Now, I'm trying to use /robot_pose_ekf to publish the transform from odom -> base_footprint in gazebo simulation.

The tf tree tells me that the broadcaster of odom -> base_footprint is /gazebo, but I want it to be /robot_pose_ekf.

So I think the point to this question is how to prevent gazebo publishing the transform of odom -> base_footprint and let /robot_pose_ekf send the transform to /tf.

Actually, the tf tree shows both /gazebo and /robot_pose_ekf are connected to /tf, while /tf are using the transform of gazebo instead of /robot_pose_ekf, too bad :(

Any advice is welcome. Thanks in advance!

Clack