Open tessa-j opened 1 year ago
Hi @tessa-j,
We removed the TF broadcaster for two reasons. First of all it is a bit beyond the scope of the bridge, which only converts data types. And second, the correct way in ROS is to broadcast the transform between the map
and the odom
frame. Therefore, this is now done in a separate node, however, only in the master branch: https://github.com/boschglobal/locator_ros_bridge/blob/8bf9a5833447cd8f910a9325be7a12b0956b6644/bosch_locator_bridge_utils/src/locator_node.cpp#L199
If we were to decide to reintroduce it, I would suggest being able to turn this on and off with a parameter; and that parameter would default to false.
Hi @slaible, If we can set this parameter in the launchfile, the separate node sounds like a viable solution for us. I assume the node publishes the transform between map and base_laser as the bridge did before? Could you make this node availabe on the noetic-v1.7 branch as well?
The node publishes the transform between map and odom, and it is Nav2 / ROS 2 specific.
Hi,
in a previous PR, the tf broadcaster that published the transform between localization pose and map fram was removed: https://github.com/boschglobal/locator_ros_bridge/pull/21 Unfortunately there was no comment on the reason for the removal?
The tf message was important for our development. I am therefore suggesting to re-introduce a tf broadcaster. I already added the boadcaster to my local copy of the localor bridge, and would offer to create a PR with my changes. If there are strong reasons why there should be no such broadcaster, I suggest we can discuss this here.
Best, Tessa