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Published 20 hours ago • verified publisher icon heuristicus

Configurable odom tf publishing

Open MeierTobias opened this issue 1 year ago • 2 comments

I have implemented a feature to disable the tf publishing of the odom and gpe transformation. This is useful if you are using a GNSS based positioning system and want to estimate the position with an external state estimator. A start-up parameter called 'publish_odom_tf' configures the behavior.

MeierTobias avatar May 31 '23 15:05 MeierTobias

This is basically the same as #105. Since there have been multiple requests for this it's probably worth adding given that it's a minor change. I will hold off on merging until the PRs in the wrapper (https://github.com/bdaiinstitute/spot_wrapper/pull/6) and #126 are merged.

heuristicus avatar Jun 03 '23 13:06 heuristicus

Thanks for considering it. Sorry I wasn't aware of #105, but yes it's exactly the same.

MeierTobias avatar Jun 05 '23 12:06 MeierTobias