Listening to TF from a topic

asked 2019-02-08 08:20:17 -0500

stevemartin gravatar image

I came with some strange solution and want to ask experienced ROS users whether is it a normal practice:

I have a localizer that publishes the TF from Map to Base_footprint. But because I need to have a normal TF with map -> odom -> base_footprint, I thought to publish the TF to a different topic, e.g. /tf_map_base and then create a map frame myself, which subscribes to that /tf_map_base topic and publishes the normal TF from Map to Odom and also obtains the rotational part from the IMU.

The reason I am doing this, is because the localizer inputs its rotational figures from the laser but I think IMU is much more precise in that terms and also the localizer cannot TF normally from Map to Odom which breaks my tree.

edit retag flag offensive close merge delete