What does the variable 'bPublishOdomTf' do?

[james-yoo]

@yuokamoto When I check this option to true in the RRobotROS2Interface, I expected a tf from 'odom' to 'base_footprint' to be published, but nothing happened. What is this variable for?

[yuokamoto]

yes. that should be. Turtlebot did that as well. Did you set bPublishOdom and Robot->bMobileRobot true as well? https://github.com/rapyuta-robotics/RapyutaSimulationPlugins/blob/d382ad556b6be3d6af1743a9364720616086bbc4/Source/RapyutaSimulationPlugins/Private/Robots/RRRobotROS2Interface.cpp#L43

[james-yoo]

@yuokamoto Thanks for your reply. I tested with 4 robots as below(in Content/Robots/Turtlebot3/Physics) :

• BP_RRTurtlebotBurger
• BP_RRTurtlebotWaffle
• BP_TurtlebotBurger
• BP_TurtlebotWaffle

Although I checked the 'PublishOdomTf' option and started the simulation, there was no transform from 'odom' to 'base_footprint'. There are only transforms from 'base' to 'wheel_left' and 'wheel_right' as below:

[yuokamoto]

Which branch are you using?

This is my case with jammy branch of turtlebot3-UE

[james-yoo]

@yuokamoto I have cloned 'jammy' branch and checkout following branches:

• RapyutaSimulationPlugins: UE5.3
• rclUE: UE5_devel_humble

I am developing with the following conditions:

• Ubuntu 22.04
• Unreal Engine 5.3.2

[yuokamoto]

I become able to reproduce issue. I will investigate more

[yuokamoto]

Created PR https://github.com/rapyuta-robotics/RapyutaSimulationPlugins/pull/253

and turtlebot3-UE branch for UE5.3 https://github.com/rapyuta-robotics/turtlebot3-UE/tree/jammy_UE5.3

I still don't know why it works for UE5.1 though

[james-yoo]

@yuokamoto Issue resolved by PR #253. Transform from 'odom' to 'base_footprint' is now publishing.