Closed cosmicog closed 3 years ago
Hi @cosmicog.
Your PR does more than Complete pose publishing. I woul like to see this PR only focused on adding the pose publishing.
There was a topic advertised but there was no publishing. AFAICS, your lib doesn't expose covariance matrix, so I left it blank.
You are correct, the lib does not exposes the Covariance matrix, at least for now -- quick inside info, it will be exposed.
- Added loc2d.launch file with default params.
- Also removed / in the prefixes of global namespace topics because my robot has robot namespaced topics and I had problems remapping them.
Please provide a different PR for each topic. This way we can discuss each individual topic.
Ok. done. Also note: I made the topic latched in order to inform other nodes about latest published pose regardless of time of the subscription.
pose_pub_ = nh_.advertise<geometry_msgs::PoseWithCovarianceStamped>("/pose", 2, true);
quick inside info, it will be exposed.
Nice. When it will arrive, you can add it to the cur_pose_msg_
.
I have forgotten adding the frame_id and time stamp 2 days ago. Added them, also moved pose publishing into the update section. I checked now and amcl does the same thing, doesn't publish to pose topic when there is no update. I thought mirroring its behaviour is the best but what's your opinion?
I think we have a go with this PR..
Nice. When it will arrive, you can add it to the cur_posemsg.
I will.
Hello again,
There was a topic advertised but there was no publishing. AFAICS, your lib doesn't expose covariance matrix, so I left it blank.
Addedloc2d.launch
file with default params.Also removed/
in the prefixes of global namespace topics because my robot has robot namespaced topics and I had problems remapping them.