[ros-users] tf with multiple localisers

[nickopen]

Wim Meeussen wrote:
> 
> 
> 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
> 
> 

Will follow this approach. Thank you.
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