# how to publish map frame?

If i have only map topic how can i publish map frame?

so i have this package: https://github.com/IntelRealSense/rea...

it publishes map in '/occupancy' topic and there is no map frame, only cameras related frames.

as i understand, i need a node that provides the transform between map(which is in /occupancy topic) and camera_odom frame.

i tried putting

<node name="static_tf0" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /occupancy /t265_odom_frame 100"/>


in .launch file, but nothing happens, i suppose because no one is publishing '/occupancy' frame.

so the problem i think is that this package publishes map to /t265_odom_frame. what can i do?

1) create node that will subscribe to /occupancy topic and then publish it to map frame

or

2) go to the source code of this package, and change frame from /t265_odom_frame to map frame?

or other way?

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