Publish_odom_tf param on magni_bringup config

1

when set to true, will it always publish a odom->base_link tf? Or, if I remap the ‘/odom’ topic to, for example, ‘/odom_remapped,’ will it then publish odom_remapped->base_lin’?

If the latter is the case, how can I ensure that it always publishes the ‘odom->base_link’ transform, regardless of the ‘odom’ topic that ubiquity is publishing?

2

saw that the tf is odom->base_footprint, and that I can change de tf using the base_frame_id parameter. Sorry for the stupid question

3

In all this stuff that was not a ‘stupid question’. I had not gotten around to looking at this yet so it is good it has ‘self resolved’ from your end.
Take Care, Mark

4

Hey Mark. Thanks for the response.

I’ll make use of this topic to avoid spamming the forum:

I’m using a mcb 5.3, latest desktop noetic image on a pi4; setting the publish_odom_tf to false doesn’t seen to do anything, as even after a reboot it is still publishing the odom->base_footprint tf; confirmed this through the tf_tree.

I saw on “How to change the topic that odom is published” that you said to check the params on the magni pkgs inside catkin_ws too, so changed it both on the package at the root and at catkin_ws, but that didn’t work either.

Just to be clear, I changed the publish_odom_tf to false, on magni_bringup config, on both root and catkin_ws and it still publishes the tf. Did I miss something, or is there another file I should be looking at?

Thanks in advance.

5

Ok, I found out that the file that really matters to change the param is the robot.yaml at etc/ubiquity. Changing the publish_odom_tf there will work independently of how you have set the parameter at magni_bringup config.