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robot_pose_ekf: PoseWithCovarianceStamped message hard coded to odom #313
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It seems that maybe it should be set to "output_frame_"? I don't have any time to debug and be sure -- but tested pull requests are definitely very welcome. |
That is my impression as well. Unfortunately I am also in your situation, with no time to debug and test properly if I made the change. |
Found the same issue. I think it is a trivial change, this is just output data, so I think it couldn't really affect anything. |
I found it too after wondering why the published topic is on "odom" frame. Tried changing it to output_frame_ and it fixes it and seems to work well. |
Hey everyone,
I noticed that in line 393 of odom_estimation.cpp in robot_pose_ekf the PoseWithCovarianceStamped message is hard coded to the "odom" frame instead of using the output_frame_ variable. This seems to me like a bug. I am currently working around it by creating a node to publish the message with the correct frame, but it would be nice to have this fixed.
Thanks!
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