ROS TF Frame Confusion
In the ROS README, under About the Published TF tree
, the TF tree is represented as:
utm
└─ enu
└─ map
└─ odom
└─ base_link
├─ lidar
├─ landmark_detector
└─ gps
Under that, it says that a TF between base_link
and gps
should be a static transform. This also lines up with a static transform that is in the launch files for Velodyne and Ouster.
However, GpsToUtmNode
publishes a transform where the parent is either utm
or map
and the child is gps
. This breaks the tree and base_link
is no longer related to gps
. As a result, GPS_SLAM_CALIBRATION
always fails because GPS measurements are not being added, which in turn is due to a transform between base_link
and map
not existing.
What is the correct configuration for this?
Thanks!
Edited by Branton Davis