>> Inverting the parent-child relationship of your frames will work for a >> mobile base, but this will make impossible to reuse your code on many >> other robots.  Most robots have multiple tf frames that branch out >> from the base_link, going to different sensors, arms, etc. >> >> I'd suggest to publish all of your transforms (map_GPS->base_link, >> map_INS->base_link, map_SLAM->base_link, etc) on normal ROS topics >> instead of on tf. Then, have one node receive all these transforms >> from the topics, do the arbitration/merging, and publish the final >> result to tf. In that way your tf tree can still look like map --> >> odom_combined --> base_footprint, and your code will be much more >> reusable and extendable. >> >> Wim >> >> > Are there any specific things that would break if a bunch of extra frames > were published as children of odometry (in addition to the fused map frame > as its parent)?  Having things be in the tf tree can make debugging and > visualization easier. > - Bhaskara Adding child frames to an existing frame will not break anything (as long as you still keep map --> odom_combined --> base_footprint), so that's definitely another way to do things. Wim -- -- Wim Meeussen Willow Garage Inc.