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spencer-project / spencer_people_tracking

Multi-modal ROS-based people detection and tracking framework for mobile robots developed within the context of the EU FP7 project SPENCER.
http://www.spencer.eu/
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How to change the odom default value? #53

Closed tcjcxy30 closed 4 years ago

tcjcxy30 commented 6 years ago

Hi： I have a robot which public the tf odom named /my_robot/odom and can no be change, but in spencer the default odom tf frame value is "/odom", so I want to know how to change the default tf name from "/odom" to "/my_robot/odom"?

tlind commented 6 years ago

While some ROS nodes expose the odom frame as a parameter, this is currently not easily configurable in the launch files as it doesn't get passed through.

If you only have a single robot, I suggest to use a static_transform_publisher to publish a zero transform from /my_robot/odom to odom.