From a30ced000d7f9d4ecc23e5f7101e1818aea7e079 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 22 Sep 2020 16:45:07 +0200
Subject: [PATCH] The static_tf_map transform is only used if the fake
localization and the map are not used.
---
launch/nav.launch | 16 +++++++++-------
1 file changed, 9 insertions(+), 7 deletions(-)
diff --git a/launch/nav.launch b/launch/nav.launch
index 08b2ef2..8f46e35 100644
--- a/launch/nav.launch
+++ b/launch/nav.launch
@@ -80,13 +80,15 @@
</group>
</group>
- <group unless="$(arg use_map)">
- <node pkg="tf"
- type="static_transform_publisher"
- name="static_tf_map"
- ns="$(arg ns)"
- args=" 0 0 0 0 0 0 $(arg map_frame_id) $(arg odom_frame_id) 100">
- </node>
+ <group unless="$(arg use_fake_loc)">
+ <group unless="$(arg use_map)">
+ <node pkg="tf"
+ type="static_transform_publisher"
+ name="static_tf_map"
+ ns="$(arg ns)"
+ args=" 0 0 0 0 0 0 $(arg map_frame_id) $(arg odom_frame_id) 100">
+ </node>
+ </group>
</group>
<group if="$(arg use_fake_loc)">
--
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