# Listening to TF from a topic

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.

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