This packages contains a single node that subscribes to a pose topic.
It will simply republish the pose as a transform on /tf
. If the parent frame is not defined then world
will be used.
It can be used to simulate perfect localization (on /tf
) from a ground truth topic published by a simulator.
Supported messages are:
geometry_msgs/Pose
geometry_msgs/PoseStamped
geometry_msgs/Transform
geometry_msgs/TransformStamped
nav_msgs/Odometry
sensor_msgs/Imu
(assumes null translation)
topic
: topic to subscribe to (defaults topose_gt
)child_frame
: child frame to be used in tf publisher (defaults tobase_link
)parent_frame
: parent frame to be used in tf publisher (defaults toworld
)
The frame parameters are only to complement messages that do not include the information:
Pose
andTransform
do not convey any frame, so both parameters are used;PoseStamped
andImu
only conveychild_frame
in the header, theparent_frame
parameter is thus used;TransformStamped
andOdometry
convey bothchild_frame
explicitely andparent_frame
in the header.