remap tf published by ndt_matching (#2447)

usdot-fhwa-stol · Oct 4, 2024 · de6c43e · de6c43e
1 parent 0ddc9dd
commit de6c43e
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/carma/launch/localization.launch.py b/carma/launch/localization.launch.py
@@ -232,6 +232,7 @@ def generate_launch_description():
                     ("/imu_raw", [ EnvironmentVariable('CARMA_INTR_NS', default_value=''), "/imu_raw" ] ),
                     ('filtered_points', 'random_points'),
                     ('initialpose','managed_initialpose'),
+                    ('/tf', '/tf_ndt_UNUSED'), #renaming /tf to avoid duplocation. Main /tf is published by ekf_localizer
                 ],
                 parameters=[
                     ndt_matching_param_file,
@@ -391,4 +392,4 @@ def generate_launch_description():
         ndt_matching_container,
         ekf_localizer_container,
         subsystem_controller
-    ])
+    ])