Added Loopback Simulator Package #4006
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@smitdumore, your PR has failed to build. Please check CI outputs and resolve issues. |
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I think there's something funky happening with the frames here. The timerCallback should be publishing map->odom, but its actually publishing the |
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@smitdumore, your PR has failed to build. Please check CI outputs and resolve issues. |
| rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr scan_publisher_; | ||
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| // tf | ||
| std::unique_ptr<tf2_ros::StaticTransformBroadcaster> tf_broadcaster_; |
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These aren't static transforms, they should be using the TransformBroadcaster instead
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| // Publishing updated position of odom and base_link wrt map | ||
| publishTransform(relocalization_pose_, "map", "odom"); | ||
| publishTransform(init_pose_.pose.pose, "map", "base_link"); |
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The transform it should be publishing is odom->base_link, the map->base_link should never be published. That breaks the TF tree. Its map->odom and odom->base_link. I think that largely invalidates the code above.
- Given the initial pose (map->base_link)
- Find the current odom->base_link transform (or just have it stored from the previous iteration)
- Back out the map->odom that keeps odom->base_link constant
- Publish that map->odom
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Hey! Checking back in here - anything I can help answer? |
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Hey Steve, |
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