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Hello, I have set up a simple navigation following the default configuration from navigation tutorial Right now, i am publishing odometry in the odom topic, and works fine, I can see the move_base subscribing to the odom topic. But i want to implement some filteres, so I am publising a filtered odometry message on a second topic name odom_filtered. what i want to know is how could I indicate the navigation stack to use the odom_filtered topic rather than the odom one? Thanks for your time.


Originally posted by nalistic on ROS Answers with karma: 15 on 2020-08-25

Post score: 0


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Comment by Humpelstilzchen on 2020-08-25:
Need more details, what nodes of the navigation stack are you using? Most nodes are using the tf odom->base_link, not the nav_msgs/Odometry topic. Make sure you are publishing this transform only in one node.

But if you really need to change a topic name for a node, try remap

Comment by nalistic on 2020-08-25:
Thanks for your response, I am using move_base node, and that node was expecting the odometry to be published in the odom topic, so i could simply change the topic odom to odom_raw and use the remap property to change the odometry/filtered to odom, thanks a lot for the response, change the comment to an answer so i can mark it as correct.

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using remap as suggested by @humpelstizchen did the trick


Originally posted by nalistic with karma: 15 on 2020-10-14

This answer was ACCEPTED on the original site

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