From d29ba4b80dfed238ff63382289b6802315ad5bcb Mon Sep 17 00:00:00 2001
From: daviddudas <david.dudas@outlook.com>
Date: Sun, 18 Oct 2020 15:34:43 +0200
Subject: [PATCH] Add a switch to disable publish TF
---
nodes/mecanum_drive_odometry | 18 +++++++++++-------
1 file changed, 11 insertions(+), 7 deletions(-)
diff --git a/nodes/mecanum_drive_odometry b/nodes/mecanum_drive_odometry
index 10623a7..a43e748 100755
--- a/nodes/mecanum_drive_odometry
+++ b/nodes/mecanum_drive_odometry
@@ -52,6 +52,7 @@ class OdometryNode:
self.odomFrameID = rospy.get_param('~odom_frame_id', 'odom')
self.encoderMin = int(rospy.get_param('~encoder_min', -32768))
self.encoderMax = int(rospy.get_param('~encoder_max', 32767))
+ self.publishTF = rospy.get_param('~publish_tf', 'true')
self.odometry.setWheelSeparation(self.wheelSeparation)
self.odometry.setWheelSeparationLength(self.wheelSeparationLength)
@@ -70,13 +71,16 @@ class OdometryNode:
pose = self.odometry.getPose()
q = quaternion_from_euler(0, 0, pose.theta)
- self.tfPub.sendTransform(
- (pose.x, pose.y, 0),
- (q[0], q[1], q[2], q[3]),
- now,
- self.baseFrameID,
- self.odomFrameID
- )
+
+ if self.publishTF == 'true':
+ self.tfPub.sendTransform(
+ (pose.x, pose.y, 0),
+ (q[0], q[1], q[2], q[3]),
+ now,
+ self.baseFrameID,
+ self.odomFrameID
+ )
+
odom = Odometry()
odom.header.stamp = now
--
GitLab