added relay arg and node

example_11/bringup/launch/carlikebot.launch.py

@@ -32,9 +32,17 @@ def generate_launch_description():
  description="Start RViz2 automatically with this launch file.",
  )
  )
+ declared_arguments.append(
+ DeclareLaunchArgument(
+ "relay_odometry_tf",
+ default_value="false",
+ description="Relay odometry TF from the steering controller to the TF tree.",
+ )
+ )
 
  # Initialize Arguments
  gui = LaunchConfiguration("gui")
+ relay_odometry_tf = LaunchConfiguration("relay_odometry_tf")
 
  # Get URDF via xacro
  robot_description_content = Command(
@@ -71,6 +79,7 @@ def generate_launch_description():
  output="both",
  remappings=[
  ("~/robot_description", "/robot_description"),
+ ("/bicycle_steering_controller/odometry_tf", "/tf"),
  ],
  )
  robot_state_pub_ackermann_node = Node(
@@ -104,6 +113,14 @@ def generate_launch_description():
  arguments=["bicycle_steering_controller", "--controller-manager", "/controller_manager"],
  )
 
+ relay_node = Node(
+ package="topic_tools",
+ executable="relay",
+ name="relay_odometry_node",
+ arguments=["/bicycle_steering_controller/tf_odometry", "/tf"],
+ condition=IfCondition(relay_odometry_tf),
+ )
+
  # Delay rviz start after `joint_state_broadcaster`
  delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
  event_handler=OnProcessExit(
@@ -124,6 +141,7 @@ def generate_launch_description():
  control_node,
  robot_state_pub_ackermann_node,
  joint_state_broadcaster_spawner,
+ relay_node,
  delay_rviz_after_joint_state_broadcaster_spawner,
  delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
  ]