Fix TF broadcasting for the detected AprilTags#64
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Myzhar wants to merge 1 commit intoNVIDIA-ISAAC-ROS:mainfrom
Open
Fix TF broadcasting for the detected AprilTags#64Myzhar wants to merge 1 commit intoNVIDIA-ISAAC-ROS:mainfrom
Myzhar wants to merge 1 commit intoNVIDIA-ISAAC-ROS:mainfrom
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Replace
const rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr tf_pub_;by
std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;For a correct TF broadcasting.
Using a standard publisher instead of
tf2_ros::TransformBroadcastercaused the TF message to not work correctly if the AprilTag node was placed under a namespace, and in any case, it's not the "ROS way" for broadcasting TFs.