Parameter to specify odom target frame

ricber commented 4 years ago

I've made the following changes:

I've added in the launch file the <remap> tags to remap the points topic and the imu topic
I've added a parameter to specify the target frame against which to compute the odometry. This is useful, for example, if you are using a sensor like the Ouster OS-1 that is characterized by three frame_id, namely, os1_sensor, os1_lidar, and os1_imu. Moreover, it is very common in the robotics world to compute the odometry against the base_link frame.
To compute the odometry against a given target frame I've added an instruction to transform the input point cloud into the target frame via a pcl_ros library function. If the target odom_child_frame_id is the same as that of the input point cloud msg, no transformation is performed.

This pull request closes #38

koide3 commented 4 years ago

Thanks a lot for the pull request. I'll review and merge it soon :+1:

koide3 commented 4 years ago

I confirmed that this modification works fine and merged it. Thanks again!

koide3 / hdl_localization