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SBG-Systems / sbg_ros_driver

ROS 1 driver for SBG Systems IMU/AHRS/INS units such as ELLIPSE or QUANTA.
https://www.sbg-systems.com
MIT License
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How to change the frame_id of the topic “/imu/nav_sat_fix” without changing the frame_id of other topic? #77

Closed goldqiu closed 2 years ago

goldqiu commented 2 years ago

Hi. How to change the frame_id of the topic “/imu/nav_sat_fix” without changing the frame_id of other topic? Thank you very much!!!!

CeeSBG commented 2 years ago

Hello, In order to change the frame_id you have to use ROS package tf that contains different topics so it's applies a transformation on a hole node that will publish on the tf topic. So in conclusion, you can't change a frame_id in only one topic. However, you can create a subscriber node and subscribe to one topic only and then change the frame_id for just that topic. This web page can maybe help you to understand the process http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29#roscpp_tutorials.2FTutorials.2FWritingPublisherSubscriber.Writing_the_Subscriber_Node

goldqiu commented 2 years ago

Ok, Thank you，I think i know what should i do. Best regards.