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Commit d29ba4b8 authored by daviddudas's avatar daviddudas
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Add a switch to disable publish TF

parent d72db8b6
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...@@ -52,6 +52,7 @@ class OdometryNode: ...@@ -52,6 +52,7 @@ class OdometryNode:
self.odomFrameID = rospy.get_param('~odom_frame_id', 'odom') self.odomFrameID = rospy.get_param('~odom_frame_id', 'odom')
self.encoderMin = int(rospy.get_param('~encoder_min', -32768)) self.encoderMin = int(rospy.get_param('~encoder_min', -32768))
self.encoderMax = int(rospy.get_param('~encoder_max', 32767)) self.encoderMax = int(rospy.get_param('~encoder_max', 32767))
self.publishTF = rospy.get_param('~publish_tf', 'true')
self.odometry.setWheelSeparation(self.wheelSeparation) self.odometry.setWheelSeparation(self.wheelSeparation)
self.odometry.setWheelSeparationLength(self.wheelSeparationLength) self.odometry.setWheelSeparationLength(self.wheelSeparationLength)
...@@ -70,6 +71,8 @@ class OdometryNode: ...@@ -70,6 +71,8 @@ class OdometryNode:
pose = self.odometry.getPose() pose = self.odometry.getPose()
q = quaternion_from_euler(0, 0, pose.theta) q = quaternion_from_euler(0, 0, pose.theta)
if self.publishTF == 'true':
self.tfPub.sendTransform( self.tfPub.sendTransform(
(pose.x, pose.y, 0), (pose.x, pose.y, 0),
(q[0], q[1], q[2], q[3]), (q[0], q[1], q[2], q[3]),
...@@ -78,6 +81,7 @@ class OdometryNode: ...@@ -78,6 +81,7 @@ class OdometryNode:
self.odomFrameID self.odomFrameID
) )
odom = Odometry() odom = Odometry()
odom.header.stamp = now odom.header.stamp = now
odom.header.frame_id = self.odomFrameID odom.header.frame_id = self.odomFrameID
......
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