degeneracy_corrector
This pkg aims to provide a map->odom transform that will correct the positioning of a degenerate odom->base_link transform.
The node takes in the bool topic /is_degenerate as well as the /odom topic to be corrected and the target /odom. Upon recieving true for /is_degenerate the current and target /odom is evaluated. The node then creates a /tf topic from map_frame to odom_frame that shifts the degenerate/odom to the target/odom relative to the map_frame.
Topics in
- /is_degenerate
- /odom
- /odom
Topics out
- /tf