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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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Complete pose publishing #32

Closed cosmicog closed 3 years ago

cosmicog commented 3 years ago

Hello again,

eupedrosa commented 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.

cosmicog commented 3 years ago

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);
cosmicog commented 3 years ago

quick inside info, it will be exposed.

Nice. When it will arrive, you can add it to the cur_pose_msg_.

cosmicog commented 3 years ago

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?

eupedrosa commented 3 years ago

I think we have a go with this PR..

Nice. When it will arrive, you can add it to the cur_posemsg.

I will.