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Broadcast map-to-odom transform in laser callback #81

Merged
merged 1 commit into from
Feb 13, 2023
Merged

Broadcast map-to-odom transform in laser callback #81

merged 1 commit into from
Feb 13, 2023

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olmerg
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@olmerg olmerg commented Jan 24, 2023

#40

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olmerg commented Jan 24, 2023

Decision taken over the implementation:

  • if the robot do not move the map to odom publish will be published at the rate of laser scanner (like nav2_amcl)
  • When a Initial position is received the map to odom TF start in zero.
  • some noise was added in the turtlebot.model.yaml to test, but I think that should be removed in the main branch
  • Maybe by performance the estimated_pose() could be saved to be used in the timer

nahueespinosa
nahueespinosa requested changes Jan 24, 2023
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@olmerg Left a few comments!

It's difficult to review the code with so many unrelated style changes, can you run the linter and disable your IDE formatter?

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@nahueespinosa nahueespinosa changed the title map to odom in laser callback Broadcast map-to-odom transform in laser callback Jan 24, 2023
nahueespinosa
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@nahueespinosa nahueespinosa added enhancement New feature or request ros Related to ROS labels Jan 25, 2023
@olmerg olmerg changed the base branch from main to gh-pages February 1, 2023 16:22
@olmerg olmerg changed the base branch from gh-pages to main February 1, 2023 16:22
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nahueespinosa requested changes Feb 6, 2023
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@olmerg Second pass!

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nahueespinosa
nahueespinosa requested changes Feb 10, 2023
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@olmerg Great! Left a few minor comments.

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nahueespinosa commented Feb 10, 2023 •
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Looks like this needs a rebase.

@nahueespinosa nahueespinosa changed the base branch from main to gh-pages February 10, 2023 21:17
@nahueespinosa nahueespinosa changed the base branch from gh-pages to main February 10, 2023 21:17
@nahueespinosa nahueespinosa added the cpp Related to C++ code label Feb 11, 2023
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@olmerg It seems like you merged changes from ivanpauno/set-initial-pose-from-params instead of main. We'll need to wait until that lands on main and you'll need to rebase again after that. Or you can rebase on main now and remove those commits.

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Broadcast map-to-odom transform
f629305 
Co-authored-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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nahueespinosa approved these changes Feb 13, 2023
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@olmerg I rebased and force-pushed so you don't have to deal with that again. Going in!

@nahueespinosa nahueespinosa merged commit 7c8dcef into main Feb 13, 2023
@nahueespinosa nahueespinosa deleted the olmer/map-to-odom2 branch February 13, 2023 14:23
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