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husky / husky_robot

Robot (Hardware) packages for the Clearpath Husky
http://wiki.ros.org/Robots/Husky
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Use configurable laser prefix #23

Closed civerachb-cpr closed 2 years ago

civerachb-cpr commented 2 years ago

husky_description supports changing the frame ID, but without being able to change the frame ID in the launch file you wind up with a broken tf

Also, the existing default "base_laser" is inconsistent with the latest husky_description.

IndoorNav, because of how Otto's implemented parts of it, currently requires the front & rear lidar frames to be front_laser and rear_laser respectively, so fixing this will also make IndoorNav easier to develop/maintain.