Hi everyone,<br>I am working with the simulation of my robot in ROS-Gazebo. The situation is that I need different sources of localization, so I made them all childs of &#39;base_footprint&#39; (as can be seen in the picture attached, two localization sources are depicted, &#39;odom&#39; and &#39;los_pos&#39; as well as &#39;base_link&#39; where the rest of the robot tf is described).<br>
<br>The problem is that, in order to achieve that situation, I had to modify the gazebo_plugin diffdrive, indicating the tf transform to be a child of the base_footprint, instead of been the parent of &#39;base_link&#39;.<br>
<br>Now, I don&#39;t know if modifying the diffdrive plugin code is the best way of doing it, since it means that I will have to keep this mod in mind everytime there is an update from Willow Garage of the diffdrive code.<br>
<br>My question is, is there a better way to change the tf transform of the odometry from parent to child, without having to go to the code and modify it?.<br><br>In case there is no other way, as I suspect from what I have seen in other related messages posted in the list, is there a plan about changing the diffdrive plugin to a version where the odom is a child instead of a parent of base_footprint.<br>
<br>In case required I can provide the patch for this mod.<br><br>Best<br clear="all"><br>-- <br>-- <br>__________________________<br>Ricardo A. Tellez      <br><br>AI 
Research Engineer<br>Pal Robotics<br><br>phone:  +34 93 414 53 47<br>email:
 <a href="mailto:ricardo.tellez@pal-robotics.com" target="_blank">ricardo.tellez@pal-robotics.com</a><br>
web: <a href="http://www.pal-robotics.com/" target="_blank">http://www.pal-robotics.com</a><br>__________________________<br>