I've explained in detail why robot_state_publisher's tf tree should be used when working with other ros applications in a Ardupilot Discourse post, as it follows ROS REP 105 tree structure.
Because of that, we should rename /ignore/tf | /ignore/tf_static to /ap/tf | ap/tf_static as this is the namespace currently used by AP_DDS_Client.
I will adequate the rviz launch calls in ardupilot_ros to match this namespace (by remapping the /tf topics). With this I will be able to get cartographer and navigation2 working correctly.
pedro-fuoco
commented
11 months ago
I've explained in detail why
robot_state_publisher's tf tree should be used when working with other ros applications in a Ardupilot Discourse post, as it follows ROS REP 105 tree structure.Because of that, we should rename
/ignore/tf|/ignore/tf_staticto/ap/tf|ap/tf_staticas this is the namespace currently used byAP_DDS_Client.I will adequate the rviz launch calls in
ardupilot_rosto match this namespace (by remapping the/tftopics). With this I will be able to getcartographerandnavigation2working correctly.