Fixed tf for odometry #86
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Signed-off-by: Jakub Delicat <delicat.kuba@gmail.com>
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Thank you! I'll check the changes later. |
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The current transform publisher works wrong when an odometry is used.
The proper tf tree should look:
base_link -> odom -> map
but current implementation provides:
base_link -> odom
base_link -> map
The video of flicking robot model on the current version:
Screencast from 22.04.2024 21:50:52.webm
The video of this PR:
Screencast from 22.04.2024 21:41:05.webm
This kind of aproch can be found in nav2_amcl and slam_toolbox
PS: fixed typo 👯