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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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Optionally disable map->odom tf transfrom #37

Closed Thazz closed 2 years ago

Thazz commented 3 years ago

I would propose to add a parameter to optionally disable publishing of map->odom tf transfrom, such as tf_broadcast parameter in amcl package.

Use case for this is when one would be using robot_localization package for fusing multiple localization sources with Kalman filter (e.g localization with lama + bluetooth beacons or GPS). In this case map->odom is (or can be) published by robot_localization nodes and should be disabled for robot_localization input sources, i.e lama ros.

Edit: I see that using Kalman filter is also discussed in https://github.com/iris-ua/iris_lama_ros/issues/5.

eupedrosa commented 3 years ago

Hi @Thazz

Are you talking about a specific node, for example loc2d_ros, or should this feature be available in all nodes?

Thazz commented 3 years ago

I think it only makes sense to implement it in loc2d_ros as it is used for localization.

For slam2d_ros it could be useful in case od lifelong mapping as discussed in https://github.com/iris-ua/iris_lama_ros/issues/38, where this node would also be used for localization, but as I understand from discussion, LaMa is currently not suitable for this.

Another question, is it possible to estimate covariance matrix for localization, so that pose could be published as geometry_msgs::PoseWithCovarianceStamped message?

eupedrosa commented 3 years ago

I think I can add the option to disable tf broadcasting for loc2d_ros.

Another question, is it possible to estimate covariance matrix for localization, so that pose could be published as geometry_msgs::PoseWithCovarianceStamped message?

This already exist for loc2d_ros