Hello,
I am using rtabmap rgbd_odometry node and data from IMU feeded to robot_pose_ekf node. This gives me stable odometry. This stable odometry data publishes a odom->base_link transform. Apart from this the rgbd_odometry node and robot_pose_ekf node also publishes the transform between odom and baselink. To avoid any conflict i remapped the frame id of rgbd_odometry and robot_pose_ekf as odom1 and odom_combined. But now when i run
rosrun tf view_frames
The results are varying everytime i run the command. Sometimes it shows that odom-base_link transform is published by odom and at other point of time it shows that the same transform is published by rgbd_odometry. How can i select odom to be publishing this transform always ?
roswtf
gives me this.
ERROR TF re-parenting contention:
* reparenting of [base_link] to [odom_combined] by [/robot_pose_ekf]
* reparenting of [base_link] to [odom_useless] by [/rgbd_odometry]
* reparenting of [base_link] to [odom] by [/odom]
ERROR TF multiple authority contention:
* node [/robot_pose_ekf] publishing transform [base_link] with parent [odom_combined] already published by node [/odom]
* node [/rgbd_odometry] publishing transform [base_link] with parent [odom_useless] already published by node [/robot_pose_ekf]
* node [/odom] publishing transform [base_link] with parent [odom] already published by node [/rgbd_odometry]
* node [/rgbd_odometry] publishing transform [base_link] with parent [odom_useless] already published by node [/odom]
* node [/odom] publishing transform [base_link] with parent [odom] already published by node [/robot_pose_ekf]
* node [/robot_pose_ekf] publishing transform [base_link] with parent [odom_combined] already published by node [/rgbd_odometry]
Please help me with this. I have been stuck at the same point since last 4 days.
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