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I'm trying to perform Localization in outdoor and indoor situations, and I would like to remap the /tf publisher from AMCL node so I can redirect it to a mux where I could select which algorithm transform should I use.

If I'm not wrong, using the remap tag would also affect not the publisher but also the subscriber, and I can't do that since AMCL needs the transform from the laser_frame to odom.

I thought this idea because I haven't seen any way to stop AMCL from publishing, without exiting the node.

Could I do this somehow? Or am I doing something wrong?

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2 Answers 2

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If you use navigation AMCL implementation, consider using the tf_broadcast param.

It controls whether the broadcast happens or not and it supports dynamic reconfigure, which makes it possible to update the param on-the-fly.

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  • $\begingroup$ Hello Dimitry, and thanks for the answer. That's good to know, I was expecting somehow a dynamic reconfigure setup in AMCL package, and I was stunned that there wan't, but didn't take into account that it could be done in navigation. At the moment I'm not using it, but I might, which in that case, it could be done with this. $\endgroup$
    – ÁngeLoGa
    Commented Nov 9, 2023 at 9:00
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Dmitry's solution should work, but it seems cleaner to me if you make the mux responsible for publishing the map->odom transform, and disable this feature in the amcl node. The mux would subscribe to the robot's pose published by amcl node.

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  • $\begingroup$ Hello Mike, thank you for the answer. Your approach was my first suggestion. I thought that the main focus of AMCL node was to publish the tf in order to do the localization, but from your answer I can tell that I could still count with the published amcl_pose msg in order to "create" the tf stimated by AMCL, right? I'll get into this and see if I get it to work! $\endgroup$
    – ÁngeLoGa
    Commented Nov 9, 2023 at 9:03

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