Configurable odom tf publishing#134
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Update tf_pub_config branche
MeierTobias
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This is basically the same as #105. Since there have been multiple requests for this it's probably worth adding given that it's a minor change. I will hold off on merging until the PRs in the wrapper (rai-opensource/spot_wrapper#6) and #126 are merged. |
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Thanks for considering it. Sorry I wasn't aware of #105, but yes it's exactly the same. |
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I have implemented a feature to disable the tf publishing of the odom and gpe transformation. This is useful if you are using a GNSS based positioning system and want to estimate the position with an external state estimator.
A start-up parameter called 'publish_odom_tf' configures the behavior.