Base frame used by localisation is no longer hard coded (in toponav 2).

LCAS / topological_navigation

The topological navigation framework

Apache License 2.0

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Base frame used by localisation is no longer hard coded (in toponav 2). #60

Closed adambinch closed 3 years ago

adambinch commented 3 years ago

It is set by a rosparam topological_localisation/base_frame (default=base_link). topomap frame is retrieved from the topological map.

Includes a new node topological_transform_publisher for publishing the map to topomap transform on the topic /topological_transform with msg type geometry_msgs/TransformStamped

removed unused imports from localisation.

adambinch commented 3 years ago

Hopefully you can run your multisim with this @gpdas