Odom Fix #61
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Odom Fix #61
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ros-controls/ros2_controllers@6ca4026 changed the default behaviour of the
diff_drive_controller. It inadvertently lead to the namespacedodomandbase_linklinks in theplatform/odomtopic that fed into theekf_nodeto no longer point to the static links we published (they include a leading slash/that they previously removed).By disabling
tf_frame_prefix_enable, thediff_drive_controllerno longer namespaces theodomandbase_linktherefore we no longer need to publish these namespaced links (see clearpathrobotics/clearpath_robot#43 and clearpathrobotics/clearpath_simulator#28). And, we no longer have an issue with the filtered odom.