introlab
No tf link is being published from icp_odometry node.
As mentioned "When external odometry is used, tf output is the correction of the external odometry tf so that both transforms can be in the same tf tree (i.e., /odom icp→/odom→/base link)". I was expecting same to be published by icp_odometry node but it is not publishing these link. Also on disabling external odometry it is not publishing /odom->base_link tf. However odometry is being published on topic in both cases. Note : I have set "publish_tf" to true.
It is resolved. The map->odom tf have to changed to map->odom_icp . But The tf of odom_icp->odom as well as data at /odom_icp is being published at the rate of 1.2Hz, That is very slow. How to increase this frequency.
The frame rate will depend on how much data the LiDAR is producing and the computer used. For example, Icp/VoxelSize can be increased to downsample the LiDAR scans.
