If we have multiple odometry sources, all must be able to turn off the TF publishing while still publishing the odometry message. All other major packages support that except this. It should be simple to implement adding a publish_tf (standard naming) boolean param and only publish to the TF Broadcaster for the odom->sensor when set to true. Otherwise, only publish the transformation to the odometry topic so we can fuse it in robot_localization
If we have multiple odometry sources, all must be able to turn off the TF publishing while still publishing the odometry message. All other major packages support that except this. It should be simple to implement adding a
publish_tf(standard naming) boolean param and only publish to the TF Broadcaster for the odom->sensor when set to true. Otherwise, only publish the transformation to the odometry topic so we can fuse it in robot_localization