Can't change world_frame_id and odom_frame_id from the launch file

[martinakos]

I couldn't change the odom_frame_id from the launch file. And I've just realised that world_frame_id and odom_frame_id are not declared as Node parameters, so only the default values are used.

https://github.com/berndpfrommer/basalt_ros2/blob/8d70ff54b79b116b34ccddac19aad4a5db8b1627/src/vio_publisher.cpp#L63

[berndpfrommer]

Thanks for reporting this bug. Would you consider using the new basalt_ros package ? I fixed the bug there. Problem is this: I upgraded my development machine to Ubuntu 22.04, but the old basalt_ros package will no longer compile on Ubuntu 22.04 (some Eigen errors).

[martinakos]

Thanks. I've tried the new basalt_ros package and I have an error with the same launch file I was using here. I opened an issue in that repo https://github.com/berndpfrommer/basalt_ros/issues/2