From 018a406334887cb439bd4fccfa8b822d6096f03b Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Tue, 8 Jun 2021 17:36:44 +0200
Subject: [PATCH] Adapted to new landmarks localization initialpose topic
---
config/adc_common/adc_global_ekf_odom_imu_amcl.yaml | 2 +-
launch/adc_global_localization.launch | 3 ++-
2 files changed, 3 insertions(+), 2 deletions(-)
diff --git a/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml b/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml
index b3434fd..1a9f450 100644
--- a/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml
+++ b/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml
@@ -9,7 +9,7 @@ use_control: true
control_config: [true, true, false, false, false, true]
-publish_tf: true
+publish_tf: false
map_frame: map
odom_frame: adc_car/odom
base_link_frame: adc_car/base_footprint
diff --git a/launch/adc_global_localization.launch b/launch/adc_global_localization.launch
index c284d32..8304aa0 100644
--- a/launch/adc_global_localization.launch
+++ b/launch/adc_global_localization.launch
@@ -76,7 +76,8 @@
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="config_file" value="$(arg landmarks_config_dir)/$(arg landmarks_config_file)"/>
<arg name="landmarks_map_file" value="$(arg landmarks_data_dir)/$(arg landmarks_file)"/>
- <arg name="estimated_pose_topic_name" value="/$(arg car_name)/initialpose"/>
+ <arg name="estimated_pose_topic_name" value="/$(arg car_name)/estimated_pose"/>
+ <arg name="initialpose_topic_name" value="/$(arg car_name)/initialpose"/>
<arg name="features_topic_name" value="/$(arg car_name)/iri_adc_tag_localization_filter/features"/>
</include>
--
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