Unable to see odom and tf topics.

[Rak-r]

I have cloned the repo for ros2. My ROS2 version; Humble

I am running the node using ros2 run ros2_laser_scan_matcher laser_scan_matcher. However, it runs but I am not able to see odom and tf topics. I am having /scan topic from gazebo which is getting published in ros2 time.

Also, I tried to chnaging the laser frame id by doing ros2 param set, terminal says paramter set successful but still the laser_scan_matcher node outputs could not publish tf because base_link to laser frame do not exist

Then, I changed my laser frame name to laser and now the node do not output that message but still no topics are getting published and no odom to base link tf. Set the publish tf param to true and the odom topic to 'odom' could you provide some insight?@AlexKaravaev

[jagauthier]

Did you resolve this? Please show the command line. In order to publish, you have to do something like this:

ros2 run ros2_laser_scan_matcher laser_scan_matcher \
--ros-args -p use_imu:=false \
--ros-args -p use_odom:=false \
--ros-args -p base_frame:=base_link \
--ros-args -p fixed_frame:=odom \
--ros-args -p publish_tf:=true \
--ros-args -p sigma:=0.1
--ros-args -p max_linear_correction:=0.10 \
--ros-args -p max_angular_correction_deg:=15.0 \
--ros-args -p kf_dist_linear:=0.1 \
--ros-args -p kf_dist_angular:=0.12 \
--ros-args -p max_correspondence_dist:=0.05