Upgrades OdometryPublisher system plugin #2822
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there are compile errors. On the other hand, see #2803 (comment) for an alternative solution to that issue. |
Allows OdometryPublisher to publish odometry for a non-fixed link of the robot model. Introduces the possibility to publish the odometry of a point after a non-fixed joint. This commit does not change the default behavior of the plugin. Signed-off-by: Carlo Morganti <[email protected]> Signed-off-by: Morgantiz <[email protected]>
Signed-off-by: Morgantiz <[email protected]>
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The solution proposed in #2803 (comment) does not allow to use the OdometryPublisher for a link other than the first frame of the robot model. The new feature that i propose uses the link name written inside the OdometryPublisher plugin and introduces a new parameter for the message parent frame. In the last commit i solved the compile errors. |
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🎉 New feature
Closes #2803
Summary
Allows OdometryPublisher to publish odometry for a non-fixed link of the robot model. Introduces the possibility to publish the odometry of a point after a non-fixed joint. This commit does not change the default behavior of the plugin.