use odom tf frame

jsk-ros-pkg · Oct 16, 2019 · c314d98 · c314d98
1 parent a30d16c
commit c314d98
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Showing 2 changed files with 1 addition and 4 deletions.
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -149,7 +149,7 @@
         publish_tf: true
         publish_acceleration: false
         map_frame: map
-        odom_frame: odom_combined
+        odom_frame: odom
         base_link_frame: base_link
         odom0: /odom_corrected
         odom0_config: [true, true, false,
@@ -173,7 +173,6 @@
     <rosparam ns="amcl">
       update_min_a: 0.01 <!-- update filter every 0.01[m] translation -->
       update_min_d: 0.01 <!-- update filter every 0.01[rad] rotation -->
-      odom_frame_id: odom_combined
     </rosparam>
 
     <rosparam ns="move_base/global_costmap">
@@ -182,7 +181,6 @@
         cost_scaling_factor: 10.0 # 10.0
     </rosparam>
     <rosparam ns="move_base/local_costmap">
-      global_frame: odom_combined
       inflater:
         inflation_radius: 3.0 # 0.7
         cost_scaling_factor: 3.0 # 25.0 default 10, increasing factor decrease the cost value

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml
@@ -78,7 +78,6 @@
     <rosparam file="$(find fetch_navigation)/config/fetch/costmap_local.yaml" command="load" ns="local_costmap" />
     <rosparam>
       local_costmap:
-        global_frame: odom_combined
         # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide)
         update_frequency: 10.0
     </rosparam>