changed topic from odometry/filtered to /filtered_odometry

include/htc_vive_tracker_alg_node.h

@@ -53,7 +53,6 @@ class HtcViveTrackerAlgNode : public algorithm_base::IriBaseAlgorithm<HtcViveTra
  
     // [subscriber attributes]
 	
-    ros::Publisher pose_publisher_;
     ros::Publisher vo_publisher_;
     tf::TransformListener tf_listener_;
         //

launch/wam_follow_device.launch

@@ -9,6 +9,7 @@
 
    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_se" clear_params="true">
     <rosparam command="load" file="$(find iri_htc_vive_tracker)/params/ekf_htcvive.yaml" />
+    <remap from="odometry/filtered" to="filtered_odometry"/>
    </node>
 
 </launch>

src/htc_vive_tracker_alg_node.cpp

@@ -33,7 +33,6 @@ HtcViveTrackerAlgNode::HtcViveTrackerAlgNode(void) :
     
     this->source_frame_name_ = "chaperone";
 
-    pose_publisher_ = this->public_node_handle_.advertise<geometry_msgs::PoseStamped>("new_pose",100);
     vo_publisher_ = this->public_node_handle_.advertise<nav_msgs::Odometry>("vo",100);
 
 
@@ -93,7 +92,6 @@ void HtcViveTrackerAlgNode::PublishPoseOfDeviceToFollow(void){
             Velocity device_vel = this->alg_.GetDeviceVelocity(this->target_frame_name_);
             nav_msgs::Odometry current_vo = this->CreateOdometryFromPoseVel(tf_pose, device_vel);
             this->vo_publisher_.publish(current_vo);
-            this->pose_publisher_.publish(tf_pose);
         }
         else {
             ROS_INFO ("Transform not possible");