From 4c7022dedce825301b769d43a639a97dc76e2211 Mon Sep 17 00:00:00 2001
From: Ethan <jiaao@student.unimelb.edu.au>
Date: Tue, 6 Aug 2024 12:16:13 +0800
Subject: [PATCH] tf add
---
catkin_ws/src/asclinic_pkg/launch/gmapping.launch | 10 ++++++----
1 file changed, 6 insertions(+), 4 deletions(-)
diff --git a/catkin_ws/src/asclinic_pkg/launch/gmapping.launch b/catkin_ws/src/asclinic_pkg/launch/gmapping.launch
index d5048a8f..2ce49e73 100644
--- a/catkin_ws/src/asclinic_pkg/launch/gmapping.launch
+++ b/catkin_ws/src/asclinic_pkg/launch/gmapping.launch
@@ -14,11 +14,13 @@
</node>
</group>
- <!-- Launch the robot state publisher -->
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+ <node pkg="tf2_ros" type="static_transform_publisher" name="base_to_laser" args="0 0 0 0 0 0.055 base_link laser" />
+
+ <!-- Static Transform Publisher: odom to base_link -->
+ <node pkg="tf2_ros" type="static_transform_publisher" name="odom_to_base" args="0 0 0 0 0 0 odom base_link" />
+
- <!-- Launch the joint state publisher -->
- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
<!-- Start GMapping for SLAM -->
<node name="slam_gmapping" pkg="gmapping" type="slam_gmapping" output="screen">
--
GitLab