Commit 747f4802 authored by Maurice Fallon's avatar Maurice Fallon
Browse files

some things

parent 9141bd59
#!/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,
......
#!/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
......
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