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@naiveHobo something addressed partially in #1729 is that we don't have parameterized frames and that can be a problem for multirobot situations.
The getCurrentPose has logical defaults to map / base_link, but we should have those exposed in the BT for the reason above.
Please expose the global and robot frames as input ports with the same map/base_link defaults (using spin as an example). No modifications need to be made to the BT since you can set defaults.
The text was updated successfully, but these errors were encountered:
@naiveHobo something addressed partially in #1729 is that we don't have parameterized frames and that can be a problem for multirobot situations.
The
getCurrentPose
has logical defaults to map / base_link, but we should have those exposed in the BT for the reason above.Please expose the global and robot frames as input ports with the same map/base_link defaults (using spin as an example). No modifications need to be made to the BT since you can set defaults.
The text was updated successfully, but these errors were encountered: