FallenSigh
46a18f68bf
Range Flow-based 2D odometry (ICRA 2016). Provides continuous odom->base_footprint TF from /scan without wheel odometry. Refactored: core algorithm in pure C++ class, ROS coupling only in node wrapper. Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent) Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
23 lines
700 B
Python
23 lines
700 B
Python
from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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Node(
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package='rf2o_laser_odometry',
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executable='rf2o_laser_odometry_node',
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name='rf2o_laser_odometry',
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parameters=[{
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'laser_scan_topic' : '/scan',
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'odom_topic' : '/odom',
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'publish_tf' : True,
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'base_frame_id' : 'base_footprint',#base_footprint
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'odom_frame_id' : 'odom',
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'init_pose_from_topic' : '',
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'freq' : 10.0}],
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),
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])
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