CMakeLists.txt

@@ -10,12 +10,6 @@ project(cps_rmp220_support)
 find_package(catkin REQUIRED COMPONENTS
   urdf
   xacro
-  roscpp
-  rospy
-  std_msgs
-  actionlib
-  #move_base_msgs
-  tf
 )
 
 ################################################################################
@@ -44,9 +38,6 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-add_executable(odom_publisher nodes/odom_publisher.cpp)
-target_link_libraries(odom_publisher ${catkin_LIBRARIES})
-
 ################################################################################
 # Install
 ################################################################################

launch/rsp.launch

@@ -9,5 +9,5 @@
     <!-- Start the joint state publisher node -->
     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/>
 
-    <!-- <node pkg="tf" type="static_transform_publisher" name="odom_to_base_link" args="0 0 0 0 0 0 odom base_link 40" /> -->
+    <node pkg="tf" type="static_transform_publisher" name="odom_to_base_link" args="0 0 0 0 0 0 odom base_link 40" />
 </launch>

nodes/odom_publisher.cpp

@@ -1,57 +0,0 @@
-#include <ros/ros.h>
-#include <tf/transform_broadcaster.h>
-#include <nav_msgs/Odometry.h>
-#include <geometry_msgs/TransformStamped.h>
-#include <signal.h>
-
-volatile sig_atomic_t flag = 0;
-
-void signal_handler(int signum) {
-  flag = 1;
-}
-
-void odomCallback(const nav_msgs::Odometry::ConstPtr& msg, tf::TransformBroadcaster& odom_broadcaster) {
-  // Create transform message
-  geometry_msgs::TransformStamped odom_trans;
-  odom_trans.header.stamp = msg->header.stamp;
-  odom_trans.header.frame_id = msg->header.frame_id;
-  odom_trans.child_frame_id = msg->child_frame_id;
-
-  // Copy translation and rotation
-  odom_trans.transform.translation.x = msg->pose.pose.position.x;
-  odom_trans.transform.translation.y = msg->pose.pose.position.y;
-  odom_trans.transform.translation.z = msg->pose.pose.position.z;
-  odom_trans.transform.rotation = msg->pose.pose.orientation;
-
-  // Publish the transform
-  odom_broadcaster.sendTransform(odom_trans);
-}
-
-int main(int argc, char** argv) {
-  ros::init(argc, argv, "tf_broadcaster");
-  ros::NodeHandle nh;
-
-  // Register the signal handler
-  signal(SIGINT, signal_handler);
-
-  // Create the transform broadcaster
-  tf::TransformBroadcaster odom_broadcaster;
-
-  // Subscribe to the /odom topic
-  ros::Subscriber odom_sub = nh.subscribe<nav_msgs::Odometry>(
-      "/odom", 10,
-      boost::bind(odomCallback, _1, boost::ref(odom_broadcaster)));
-
-  ROS_INFO("TF broadcaster node running...");
-
-  // Spin until the node is stopped
-  ros::Rate rate(10.0); // Adjust rate if necessary
-  while (ros::ok() && !flag) {
-    ros::spinOnce();
-    rate.sleep();
-  }
-
-  ROS_INFO("TF broadcaster node shutting down.");
-  ros::shutdown();
-  return 0;
-}