adding ground truth from odom

ethz-asl · Apr 15, 2024 · 13fa65f · 13fa65f
1 parent 519ec78
commit 13fa65f
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Showing 2 changed files with 8 additions and 1 deletion.
diff --git a/.gitignore b/.gitignore
@@ -21,6 +21,7 @@ venv
 
 # Catkin stuff
 CATKIN_IGNORE
+compile_commands.json
 
 # Files that will be auto-generated on compile
 moma_demos/grasp_demo/config/yumi/gpd.cfg

diff --git a/moma_gazebo/launch/giraffe_moveit_gazebo.launch b/moma_gazebo/launch/giraffe_moveit_gazebo.launch
@@ -82,7 +82,7 @@
       include_control_plugin:=true multiple_robots:=true"/>
 
     <remap from="/mobile_base/swerve_controller/cmd_vel" to="/cmd_vel"/>
-    <remap from="/mobile_base/swerve_controller/odom" to="/odom"/>
+    <!-- <remap from="/mobile_base/swerve_controller/odom" to="/odom"/> -->
 
     <rosparam file="$(find gmp_robot)/config/platform_description.yaml" command="load"/>
 
@@ -123,4 +123,10 @@
               -z $(arg mobile_base_z) 
               -Y $(arg mobile_base_yaw)"/>
 
+  <!-- Publish ground truth odom from gazebo -->
+  <node name="odom_to_tf" pkg="gmp_utils" type="odom_to_tf.py" output="screen">
+    <param name="odom_frame_id" value="odom" />
+    <param name="base_frame_id" value="base_footprint" />
+  </node>
+
 </launch>