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?