Fix particle filter transform direction: map->laser to laser->map.#5
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ronchuxia wants to merge 3 commits intof1tenth:foxy-develfrom
Open
Fix particle filter transform direction: map->laser to laser->map.#5ronchuxia wants to merge 3 commits intof1tenth:foxy-develfrom
ronchuxia wants to merge 3 commits intof1tenth:foxy-develfrom
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particle_filterwas publishing the transform map->laser on/pf/pose/odom. This caused incompatibility with the rest of the tf tree inf1tenth_stack.Changed the transform direction from map->laser to laser->map, completing the tf tree as:
odom -> base_link -> laser -> map
This is consistent with
static_baselink_to_laserpublishing base_link->laser on/tf_staicandvesc_to_odom_nodepublishing odom->base_link on/odom.