Hi, all!
Now I'm testing the node /robot_pose_ekf with gazebo simulator. And I have already let /gazebo publish IMU and odometry data to /robot_pose_ekf. Also, /robot_pose_ekf is connected to tf.
However, when I checked the tf tree I found that the transform from odom -> base_footprint was provided by /gazebo but I want it to be /robot_pose_ekf.
I guess it is because both /gazebo and /robot_pose_ekf are publishing /tf. Hence, I think stopping /gazebo publishing /tf can be a possible solution. FYI, I'm using GMapping which subscribes to /tf to provide SLAM functions.
Can anyone tell me how to stop gazebo publishing tf? Or any other solutions to my problem?
Thank you in advance!
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