some things

aicp_ros/python/aicp_tf_bridge.py

 #!/usr/bin/env python
-# link aicp's correction into tf (instead of localization manager)
+# pass aicp's correction to tf
+# this can be used instead of localization manager.
 
 import rospy
 from geometry_msgs.msg import TransformStamped
@@ -12,9 +13,6 @@ import math
 import numpy
 import time
 
-
-
-
 pub = rospy.Publisher("/tf", TFMessage, queue_size=10)
 vis_pub = rospy.Publisher("/visualization_marker", Marker, queue_size=10)
 rospy.loginfo("aicp_tf_bridge")
@@ -36,10 +34,6 @@ def handle_odom_to_map(msg):
     pub.publish(tfm)
 
 
-
-
-
-
 rospy.init_node('aicp_tf_bridge')
 rospy.Subscriber('/icp_tools/map_pose',
                   PoseWithCovarianceStamped,

aicp_ros/python/aicp_tf_filter.py

 #!/usr/bin/env python
-# link aicp's correction into tf (instead of localization manager)
+# when playing back a bag, filter out odom-to-map from tf
+# Note: need to replay the bag while remapping /tf to /tf_old
+# rosbag play filename.bag --pause --clock /tf:=/tf_old
 
 import rospy
 from tf2_msgs.msg import TFMessage