<> <> == ROS API == <> {{{ #!clearsilver CS/NodeAPI node.0 { name=corobot_state_tf desc=`corobot_state_tf` is a package that calculate the odometry of a Corobot using the encoders data. sub{ 0.name= position_data 0.type= corobot_msgs/PosMsg 0.desc= Encoders data } pub{ 0.name= odometry 0.type= nav_msgs/Odometry 0.desc= Odometry information } param{ 0.name= Explorer 0.default = false 0.desc= Defines if the robot is a Corobot Explorer or a Corobot classic 0.type= bool 0.name= Corobot4WD 0.default = false 0.desc= True if the robot is a Corobot CL4. If not, we assume it is a CL2. 0.type= bool 1.name= publish_odom_tf 1.default = true 1.desc= Choose to publish or not the tf transform message from odom to base_footprint 1.type= bool } prov_tf{ 0.from= odom 0.to= base_footprint 0.desc= the estimate of the robot's pose 1.from= base_footprint 1.to= base_link 1.desc= Nul transform. necessary for some applications 2.from= base_link 2.to= laser 2.desc= Fixed transform from the center of the robot to the laser range finder } } } }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage