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Can cartographer publish odom?

asked 2019-07-18 03:45:55 -0500

AlexM
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Is there any way to have the cartographer publish the odom topic in localization-only mode? I'm quite happy with the 2D localization results it provides, compared to other ROS methods using my very noisy IMU and slipping encoders, but I don't get the odom from it, despite provide_odom_frame set to true. Is it even supposed to work?

Thank you! Alex

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answered 2019-07-19 07:12:54 -0500

AlexM
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Solution/workaround: added a tf -> odom mapping node as suggested by @Koby here: https://answers.ros.org/question/3195.... Seems to work well.

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Asked: 2019-07-18 03:45:55 -0500

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Last updated: Jul 19 '19

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Can cartographer publish odom?