macstepien
commented
2 years ago Not possible to add timeout to robot_localization (drawback is described in PR #37). Probably it will be necessary to add node that subscribes to odom and publishes tf (with tf publishing disabled in robot_localization). It can also check last artag detection and timeout if necessary. toggle service from robot_localization can be useful.
As robot_localization package is used, it continues to estimate transforms. Main issue is that rviz view is then ugly until robot once again comes to table and updates octomap. Also generally this incorrect transforms shouldn't be published when robot is out of upper camera field of view.