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NeBula-Autonomy / LOCUS

Robust Lidar Odometry System
MIT License
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Output Tfs #2

Closed BenjaminMorrell closed 2 years ago

BenjaminMorrell commented 2 years ago

Often lidar odometry algorithms have an output tf that helps for visualization + comparisons.

In our system, we removed tf publishing to be in the transform manager.

Should we:

  1. Put our own tf publishing (odom to base link) again?
  2. Include transform manager (probably overkill)
  3. Have a new package of a minimal transform manager? (Maybe also publishes static tfs for sensor calibrations)
BenjaminMorrell commented 2 years ago

Current plan - to do a python script tp publish tf from subscribing to odom messages

femust commented 2 years ago

Merged in #43