We have observed, after the last firmware updates (5.83.x), that at times NaNs are published in the transformation of TF_ENU0. Independently from the original source of these values, we do not really need and use these transformations as we rely on the sole odometry msg.
We propose to introduce a flag that controls wheter to also publish odometry in the form of a TF2 transformation over ROS.
We have observed, after the last firmware updates (5.83.x), that at times NaNs are published in the transformation of
TF_ENU0. Independently from the original source of these values, we do not really need and use these transformations as we rely on the sole odometry msg.We propose to introduce a flag that controls wheter to also publish odometry in the form of a
TF2transformation over ROS.