# Replace transform between odom and base

Using the ardrone_autonomy package, the ardrone_driver makes some transformations, as seen in the following picture:

but I need to replace the transform between odom and ardrone_base_link frame by the transform provided by the robot_localization package (if possible, I would like to maintain the ardrone/odometry topic). How can I do that?

The ardrone_driver is an executable:

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I'm not a ardrone expert at all, so I don't know whether this will work (or what the consequences could be for other components in your setup), but perhaps tf_remap can help here. You'd essentially remap the odom->ardrone_base_link transform to something else and let robot_localization broadcast it.