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What I am trying to achieve?
I have a differential drive robot with YDLiDAR X4 on it. I want the robot to produce Odometry data only using LiDAR sensor with the help of Cartographer. Ultimately a odom => base_link transform should be broadcasted by cartographer, publishing on /odom topic is not necessary.
cartographer provides two frames map_frame => published_frame which are map and base_link in my case respectively. Other frame broadcasted is odom_frame => published_frame, where odom_frame is odom in my case.
From what I have inferred is to get odometry the parameter provide_odom_frame should be set to true, but there is no mention about how to turn of the map => odom frame. So I tried setting publish_to_tf to false.
What I am trying to achieve?
I have a differential drive robot with YDLiDAR X4 on it. I want the robot to produce Odometry data only using LiDAR sensor with the help of Cartographer. Ultimately a
odom => base_link
transform should be broadcasted by cartographer, publishing on/odom
topic is not necessary.What I have done so far?
With reference to the documentation at https://google-cartographer-ros.readthedocs.io/en/latest/ros_api.html#provided-tf-transforms
the section mentions,
cartographer provides two frames
map_frame => published_frame
which aremap
andbase_link
in my case respectively. Other frame broadcasted isodom_frame => published_frame
, whereodom_frame
isodom
in my case.From what I have inferred is to get odometry the parameter
provide_odom_frame
should be set totrue
, but there is no mention about how to turn of themap => odom
frame. So I tried settingpublish_to_tf
tofalse
.So the .lua file looks something like this,
With these setting NO transform is being published by cartographer neither
map => odom
norodom => base_link
.I also tried doing some iterations,
the results are below, other params are unchanged,
for
for,
So how do you get cartographer broadcast only
odom => base_link
transform?The text was updated successfully, but these errors were encountered: