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EKF Odom tf

asked 2013-01-18 07:22:03 -0500

imageryeel gravatar image

Hi all,

I need to change the tf link from Odom to base_footprint to Odom->"Turtlebot/base_footprint. I've read some other forums but I'm still stuck. I've tried to change the launch file paramaters but this hasn't effected the base_footprint destination.


I'm on Ros electric

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answered 2013-01-18 08:45:12 -0500

cagatay gravatar image

updated 2013-01-18 08:48:13 -0500

nh_private.param("output_frame", output_frame_, std::string("odom_combined"));
nh_private.param("sensor_timeout", timeout_, 1.0);
nh_private.param("odom_used", odom_used_, true);
nh_private.param("imu_used",  imu_used_, true);
nh_private.param("vo_used",   vo_used_, true);
nh_private.param("debug",   debug_, false);
nh_private.param("self_diagnose",  self_diagnose_, false);
double freq;
nh_private.param("freq", freq, 30.0);

These are the parameters that you can change ( code is from odom_estimation_node.cpp in the source directory of robot_pose_ekf )

Seems like you can not change base frame id as a parameter. You can change it manually and recompile the source. I am not very sure if you can remap tf frames but I checked here, it is not possible right now i guess

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Asked: 2013-01-18 07:22:03 -0500

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Last updated: Jan 18 '13