CMakeLists.txt

@@ -47,14 +47,6 @@ include_directories(
 add_executable(odom_publisher nodes/odom_publisher.cpp)
 target_link_libraries(odom_publisher ${catkin_LIBRARIES})
 
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-catkin_install_python(PROGRAMS
-  nodes/odom_publisher_python.py
-  nodes/odom_publisher_linus.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
 ################################################################################
 # Install
 ################################################################################

nodes/odom_publisher_linus.py

@@ -1,40 +0,0 @@
-#!/usr/bin/env python
-
-import rospy
-import tf2_ros
-from nav_msgs.msg import Odometry
-from geometry_msgs.msg import TransformStamped
-
-def odom_callback(msg):
-    # Create a TransformStamped message
-    odom_trans = TransformStamped()
-    odom_trans.header.stamp = msg.header.stamp
-    odom_trans.header.frame_id = msg.header.frame_id
-
-    # Set child_frame_id explicitly (e.g., base_link)
-    odom_trans.child_frame_id = "base_link"
-
-    # Set the translation
-    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
-
-    # Set the rotation
-    odom_trans.transform.rotation = msg.pose.pose.orientation
-
-    # Publish the transform
-    tf_broadcaster.sendTransform(odom_trans)
-
-if __name__ == "__main__":
-    rospy.init_node("tf2_broadcaster")
-
-    # Create a TransformBroadcaster
-    tf_broadcaster = tf2_ros.TransformBroadcaster()
-
-    # Subscribe to the /odom topic
-    rospy.Subscriber("/odom", Odometry, odom_callback)
-
-    rospy.loginfo("TF2 broadcaster node is running...")
-
-    # Keep the node running
-    rospy.spin()

nodes/odom_publisher_python.py

@@ -1,43 +0,0 @@
-#!/usr/bin/env python
-
-import rospy
-from nav_msgs.msg import Odometry
-import tf
-import math
-
-def normalize_quaternion(x, y, z, w):
-    norm = math.sqrt(x**2 + y**2 + z**2 + w**2)
-    return x / norm, y / norm, z / norm, w / norm
-
-def odom_callback(msg):
-    # Extract position and orientation from the odometry message
-    position = msg.pose.pose.position
-    orientation = msg.pose.pose.orientation
-
-    # Normalize the quaternion
-    qx, qy, qz, qw = normalize_quaternion(
-        orientation.x, orientation.y, orientation.z, orientation.w
-    )
-
-    # Get frame IDs from the message
-    parent_frame_id = msg.header.frame_id if msg.header.frame_id else "Odometry"
-    child_frame_id = msg.child_frame_id if msg.child_frame_id else "base_link"
-
-    # Broadcast the transformation
-    br = tf.TransformBroadcaster()
-    br.sendTransform(
-        (position.x, position.y, position.z),  # Translation
-        (qx, qy, qz, qw),  # Normalized rotation (quaternion)
-        rospy.Time.now(),  # Timestamp
-        child_frame_id,  # Child frame ID
-        parent_frame_id  # Parent frame ID
-    )
-
-def main():
-    rospy.init_node('odom_tf_publisher', anonymous=True)
-    rospy.Subscriber('/odom', Odometry, odom_callback)
-    rospy.loginfo("TF Publisher for /odom topic is running...")
-    rospy.spin()
-
-if __name__ == '__main__':
-    main()