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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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Filter tf #13

Closed efernandez closed 4 years ago

efernandez commented 4 years ago

Filter map->odom transform when playing back bag files. Otherwise we get it published from both the bag file and LaMa SLAM.

I'm happy to make this optional behind a ROS param, but it looks like this is always what we want, since it seems it's only used for the mapping nodes, and it looks to me that it'd be the same if it were used for localization.

On top of https://github.com/iris-ua/iris_lama_ros/pull/12

eupedrosa commented 4 years ago

I'm happy to make this optional behind a ROS param

No need for that.

I usually strip map transformations from my bags to avoid this exact problem. This is a nice trick.