From 46f6d309fd4f2f8ab4acddc2dfe16e1245bf82a4 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 6 Apr 2020 11:24:54 +0200
Subject: [PATCH] Make odom child frame parameterizable.
---
src/sot_loader.cpp | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/src/sot_loader.cpp b/src/sot_loader.cpp
index 9318ba7..2bf7ac4 100644
--- a/src/sot_loader.cpp
+++ b/src/sot_loader.cpp
@@ -118,6 +118,11 @@ SotLoader::SotLoader()
freeFlyerPose_.header.frame_id = "odom";
freeFlyerPose_.child_frame_id = "base_link";
+ if (ros::param::get("/sot/tf_base_link",
+ freeFlyerPose_.child_frame_id)) {
+ ROS_INFO_STREAM("Publishing " << freeFlyerPose_.child_frame_id << " wrt "
+ << freeFlyerPose_.header.frame_id);
+ }
}
SotLoader::~SotLoader() {
--
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