Map To Odom Publisher

1. Description

ROS package containing a single node for publishing map→odom transforms.

Subscribes to topic current_pose (type nav_msgs/Odometry) in map frame, looks up the current odom→base_link transform from tf, and computes and publishes the current map→odom transform.

This is useful if you have a localisation system which publishes to a pose topic, but does not publish the map to odom transform as required by REP 105.

2. Nodes

2.1 map_to_odom_publisher

Publishes the map→odom transform to tf, based on current pose topic.

2.1.1 Subscribed Topics

• current_pose (nav_msgs/Odometry)
  • The current pose of the robot
• tf
  • listens for the odom → base_link transform

2.1.2 Published Topics

• tf
  • publishes the map→odom transform

2.1.3 Parameters

• ~odom_frame_id (string, default: "odom")
  • The name of the odometric frame of the robot
• ~base_frame_id (string, default: "base_link")
  • The name of of the robot frame
• ~global_frame_id (string, default: "map")
  • The name of the global frame
• ~transform_tolerance (double, default: 0.1)
  • Timeout to use for tf lookups

Acknowledgements

The source for this node is a modified version of fake_localization.cpp from the fake_localization package, with most of the features stripped out.