Fix ground truth Tf changing parent frame#81
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josephduchesne merged 1 commit intoavidbots:masterfrom May 3, 2022
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Signed-off-by: Emiliano Borghi <emiliano.borghi@gmail.com>
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Thanks for this fix. This may have been causing us some headaches behind the scenes as well! |
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If you work with AMCL or any other localization algorithm and relocalize the robot, a jump in the robot frame occurs, more precisely in the TF between map and odometry:
Map <--> Odom <--> Robot.The current setup in
masterpublishes ground truth withOdomas parent frame and, because of this, when the jump happens, ground truth also changes, which is unexpected.This PR allows developers to modify the parent frame of ground truth to a static TF that is not affected by localization.
Signed-off-by: Emiliano Borghi emiliano.borghi@gmail.com