Add invert_tf to Odometry2DPublisher #206
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efernandez
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Is this failing because it can't find It looks like the dependency is missed, and also the include headers and libraries path is not discovered in |
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svwilliams
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Added #include for swap, but I think #207 is also needed for the tests to pass |
ayrton04
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svwilliams
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This allows to publish the inverse TF transform. This can be useful to skip the odom->base_link lookupTransform() when braodcasting map->base_link, which must be broadcasted as map->odom because TF tree doesn't support more than a single parent per frame, base_link in this case. This is particular relevant when predict_to_current_time is enabled, because the lookupTransform() could take a while, causing delays.
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This allows to publish the inverse TF transform.
This can be useful to skip the
odom->base_linklookupTransform()whenbraodcasting
map->base_link, which must be broadcasted asmap->odombecause TF tree doesn't support more than a single parent per frame,
base_linkin this case.This is particular relevant when
predict_to_current_timeis enabled, because thelookupTransform()couldtake a while, causing delays.