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How to change the /tf topic message published in the data?

asked 2022-11-05 03:46:06 -0600

wugeshenhuaking gravatar image

updated 2022-11-06 07:40:10 -0600

Mike Scheutzow gravatar image

I use the MIT dataset to evaluate the gmapping algorithm, but the coordinate transformation maintained in the/tf topic published in the dataset is as follows:

image description

I need to use the original odom coordinate system to build /tf instead of odom_ combined. Known as topic/base_ odometry/odom releases the coordinate transformation of odom. Could you please release a new/tf topic, as shown in the figure below:

image description

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answered 2022-11-06 07:38:41 -0600

Mike Scheutzow gravatar image

One method is to write a script to generate a new bag file using the rosbag API. See these links:

http://wiki.ros.org/rosbag/Code%20API

http://wiki.ros.org/rosbag/Cookbook

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Asked: 2022-11-05 03:46:06 -0600

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Last updated: Nov 06 '22