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avidbots / flatland

A 2D robot simulator for ROS
BSD 3-Clause "New" or "Revised" License
104 stars 66 forks source link

Fix ground truth Tf changing parent frame #81

Closed eborghi10 closed 2 years ago

eborghi10 commented 2 years ago

If you work with AMCL or any other localization algorithm and relocalize the robot, a jump in the robot frame occurs, more precisely in the TF between map and odometry: Map <--> Odom <--> Robot.

The current setup in master publishes ground truth with Odom as parent frame and, because of this, when the jump happens, ground truth also changes, which is unexpected.

This PR allows developers to modify the parent frame of ground truth to a static TF that is not affected by localization.

Signed-off-by: Emiliano Borghi emiliano.borghi@gmail.com

josephduchesne commented 2 years ago

Thanks for this fix. This may have been causing us some headaches behind the scenes as well!