Added two new parameters:

  * one to select whether or not to puvlish TF data.
  * one to specify the name of the base_link frame.

cfg/AnaOdom.cfg

@@ -39,7 +39,9 @@ gen = ParameterGenerator()
 
 #       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
 gen.add("encoder_res",             int_t,     0,                               "Encoder resolution in cpr",      100,      1,    10000)
-gen.add("gearbox_ratio",           double_t,  0,                               "Reduction ratio of the gearbox", 38,3,     1.0,  1000.0)
+gen.add("gearbox_ratio",           double_t,  0,                               "Reduction ratio of the gearbox", 38.3,     1.0,  1000.0)
 gen.add("wheel_radius",            double_t,  0,                               "Radius of the wheel",            0.11,     0.01, 1.0)
+gen.add("publish_tf",              bool_t,    0,                               "Whether to publish the TF transform",True)
+gen.add("base_link_frame",         str_t,     0,                               "Base link frame id",             "")
 
 exit(gen.generate(PACKAGE, "AnaOdomAlgorithm", "AnaOdom"))