Currently, Make A Map app and Map Nav app show the robot pose via getting robot frame from tf message. This way is able to be useful in single robot environment. However, Using tf message is impossible in multi-robot environment like concert because tf message can not be sharable.
To more detail, when android app tries to show pose of specific robot among multi-robot using tf message, it can not know what robot pose should be shown from tf message because all robots publish the same frame name into tf message. Thus, we should use robot_pose_publisher to display robot pose in android app regardless of single robot and multi robot run time environments like qt_make_a_map.
Currently,
Make A Mapapp andMap Navapp show the robot pose via getting robot frame from tf message. This way is able to be useful in single robot environment. However, Using tf message is impossible in multi-robot environment like concert because tf message can not be sharable. To more detail, when android app tries to show pose of specific robot among multi-robot using tf message, it can not know what robot pose should be shown from tf message because all robots publish the same frame name into tf message. Thus, we should use robot_pose_publisher to display robot pose in android app regardless of single robot and multi robot run time environments like qt_make_a_map.