[ros-users] tf with multiple localisers

Wim Meeussen meeussen at willowgarage.com
Wed Oct 27 17:52:47 UTC 2010


>> 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.
<http://www.willowgarage.com)



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