Turn on/off the tracking

[stevemartinov]

Hi,

I want to combine the AMCL and ICP to get a more accurate approach localization. My idea is to use AMCL and turn off the tracking_2d from the DRL while navigating and then when the goal distance is less than X threshold, I can turn off AMCL and turn on DRL for final approach.

Is there a simple way to turn off the DRL completely (tracking_2d) and turn on with an initial position?

[carlosmccosta]

Hello,

In the last commit I added 2 services for starting and stopping the processing of sensor data.

Now drl can start with the data processing on or off using parameter ambient_pointcloud_topic_disabled_on_startup.

The initial pose can be set from the StartProcessingSensorData.srv when set_initial_pose is set to true (the initial pose should be in the map_frame_id with a valid and nomalized quaternion).

Have a nice day :)