Parameter to specify odom target frame #39
Merged
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
I've made the following changes:
<remap>
tags to remap the points topic and the imu topicframe_id
, namely,os1_sensor
,os1_lidar
, andos1_imu
. Moreover, it is very common in the robotics world to compute the odometry against thebase_link
frame.pcl_ros
library function. If the targetodom_child_frame_id
is the same as that of the input point cloud msg, no transformation is performed.This pull request closes #38