[ros-users] tf with multiple localisers

nickopen nicholas.hillier at gmail.com
Thu Oct 28 02:27:51 UTC 2010

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.
View this message in context: http://ros-users.122217.n3.nabble.com/tf-with-multiple-localisers-tp1778461p1784053.html
Sent from the ROS-Users mailing list archive at Nabble.com.

More information about the ros-users mailing list