Replace transform between odom and base

asked 2019-05-07 13:26:06 -0600

Dylan gravatar image

updated 2019-05-07 14:19:51 -0600

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

image description

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:

image description

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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.

Older Q&A about it: #q216582.

gvdhoorn gravatar image gvdhoorn  ( 2019-05-08 03:49:20 -0600 )edit

That is a good option. tf_remap can handle it temporally.

Lucas Marins gravatar image Lucas Marins  ( 2019-05-08 07:15:24 -0600 )edit