retrieve odom frame only

Signed-off-by: maker-ATOM <[email protected]>

cartographer_ros/cartographer_ros/node.cc

@@ -306,14 +306,23 @@ void Node::PublishLocalTrajectoryData(const ::ros::TimerEvent& timer_event) {
           stamped_transforms.push_back(stamped_transform);
 
           tf_broadcaster_.sendTransform(stamped_transforms);
-        } else {
+        } else if(!trajectory_data.trajectory_options.provide_odom_frame && !trajectory_data.trajectory_options.provide_odom_frame_only) {
           stamped_transform.header.frame_id = node_options_.map_frame;
           stamped_transform.child_frame_id =
               trajectory_data.trajectory_options.published_frame;
           stamped_transform.transform = ToGeometryMsgTransform(
               tracking_to_map * (*trajectory_data.published_to_tracking));
           tf_broadcaster_.sendTransform(stamped_transform);
         }
+        else if(!trajectory_data.trajectory_options.provide_odom_frame && trajectory_data.trajectory_options.provide_odom_frame_only) {
+          stamped_transform.header.frame_id =
+              trajectory_data.trajectory_options.odom_frame;
+          stamped_transform.child_frame_id =
+              trajectory_data.trajectory_options.published_frame;
+          stamped_transform.transform = ToGeometryMsgTransform(
+              tracking_to_local * (*trajectory_data.published_to_tracking));
+          tf_broadcaster_.sendTransform(stamped_transform);
+        }
       }
       if (node_options_.publish_tracked_pose) {
         ::geometry_msgs::PoseStamped pose_msg;

cartographer_ros/cartographer_ros/trajectory_options.cc

@@ -52,6 +52,8 @@ TrajectoryOptions CreateTrajectoryOptions(
   options.odom_frame = lua_parameter_dictionary->GetString("odom_frame");
   options.provide_odom_frame =
       lua_parameter_dictionary->GetBool("provide_odom_frame");
+  options.provide_odom_frame_only =
+      lua_parameter_dictionary->GetBool("provide_odom_frame_only");
   options.use_odometry = lua_parameter_dictionary->GetBool("use_odometry");
   options.use_nav_sat = lua_parameter_dictionary->GetBool("use_nav_sat");
   options.use_landmarks = lua_parameter_dictionary->GetBool("use_landmarks");

cartographer_ros/cartographer_ros/trajectory_options.h

@@ -32,6 +32,7 @@ struct TrajectoryOptions {
   std::string published_frame;
   std::string odom_frame;
   bool provide_odom_frame;
+  bool provide_odom_frame_only;
   bool use_odometry;
   bool use_nav_sat;
   bool use_landmarks;

docs/source/configuration.rst

@@ -51,6 +51,10 @@ provide_odom_frame
   If enabled, the local, non-loop-closed, continuous pose will be published as
   the *odom_frame* in the *map_frame*.
 
+provide_odom_frame_only
+  If enable, the local, non-loop-closed, continuous pose will be published with 
+  *odom_frame* as root.
+
 publish_frame_projected_to_2d
   If enabled, the published pose will be restricted to a pure 2D pose (no roll,
   pitch, or z-offset). This prevents potentially unwanted out-of-plane poses in

docs/source/ros_api.rst

@@ -141,6 +141,11 @@ If *provide_odom_frame* is enabled in the :doc:`configuration`, additionally a c
 (i.e. unaffected by loop closure) transform between the :doc:`configured
 <configuration>` *odom_frame* and *published_frame* will be provided.
 
+If *provide_odom_frame_only* is enabled in the :doc:`configuration`,a continuous
+(i.e. unaffected by loop closure) transform between the :doc:`configured
+<configuration>` *odom_frame* and *published_frame* will be provided. No transform 
+between  *map_frame* and *odom_frame* will be provided in this case.
+
 .. _robot_state_publisher: http://wiki.ros.org/robot_state_publisher
 .. _static_transform_publisher: http://wiki.ros.org/tf#static_transform_publisher
 .. _cartographer_ros_msgs/FinishTrajectory: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/FinishTrajectory.srv