From de6c43e5712c7a8c30651637771cc29bbc1eb7fa Mon Sep 17 00:00:00 2001 From: saina-ramyar <55258852+saina-ramyar@users.noreply.github.com> Date: Fri, 4 Oct 2024 06:57:37 -0400 Subject: [PATCH] remap tf published by ndt_matching (#2447) --- carma/launch/localization.launch.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/carma/launch/localization.launch.py b/carma/launch/localization.launch.py index d5ee20951c..82866f08eb 100644 --- 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 - ]) \ No newline at end of file + ])