gmapping: disable TF publishing

asked 2019-02-04 03:12:59 -0500

Hi, I want to use an ukf_robot_localization to fuse the pose (map -> odom) from gmapping, AMCL and another not continuous pose source (not a GPS).

My problem is that the gmapping node broadcasts the "map -> odom" transform that should instead be broadcasted only by the UKF filter.

I searched about how to inhibit the gmapping node from broadcasting the TF, but I have not found the relative parameter.

Am I doing something wrong?

Thank you Walter

answered 2019-02-04 03:44:07 -0500

mgruhler

12390 ●32 ●193 ●173 https://github.com/mgruhler

updated 2019-02-04 05:30:59 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

According to the source code, setting the transform_publish_period to 0 inhibits publishing of the transform.

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Thank you @mgruhler, you are right.

I missed that line of code, I was concentrating on the publishTransform function.

Myzhar ( 2019-02-04 04:02:31 -0500 )edit

Updated the parameter documentation on the wiki in wiki/gmapping?action=diff&rev1=127&rev2=128.

gvdhoorn ( 2019-02-04 05:38:46 -0500 )edit

thx @gvdhoorn for the edit.

mgruhler ( 2019-02-04 07:21:11 -0500 )edit

@gvdhoorn I think that publishing a pose_with_covariance message should be useful to be fused in a kalman filter with the pose published by AMCL.

Normally only one of Gmapping and AMCL should work... but if you do not have a map it is not bad to run both and fuse their results...

Myzhar ( 2019-02-04 11:10:00 -0500 )edit

I'm not sure I understand your comment.

I'm not the author nor the maintainer of gmapping. I merely updated the wiki page to document that transform_publish_period==0 means: no transforms published.

gvdhoorn ( 2019-02-04 11:25:09 -0500 )edit

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