search

heuristicus / spot_ros

ROS driver for controlling Boston Dynamics' Spot robot
https://heuristicus.github.io/spot_ros/
Other
273 stars 141 forks source link

Configurable odom tf publishing #134

Open MeierTobias opened 1 year ago

MeierTobias commented 1 year ago

I have implemented a feature to disable the tf publishing of the odom and gpe transformation. This is useful if you are using a GNSS based positioning system and want to estimate the position with an external state estimator. A start-up parameter called 'publish_odom_tf' configures the behavior.

heuristicus commented 1 year ago

This is basically the same as #105. Since there have been multiple requests for this it's probably worth adding given that it's a minor change. I will hold off on merging until the PRs in the wrapper (https://github.com/bdaiinstitute/spot_wrapper/pull/6) and #126 are merged.

MeierTobias commented 1 year ago

Thanks for considering it. Sorry I wasn't aware of #105, but yes it's exactly the same.