update

CMakeLists.txt

@@ -10,6 +10,12 @@ project(cps_rmp220_support)
 find_package(catkin REQUIRED COMPONENTS
   urdf
   xacro
+  roscpp
+  rospy
+  std_msgs
+  actionlib
+  #move_base_msgs
+  tf
 )
 
 ################################################################################
@@ -38,6 +44,9 @@ 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

@@ -0,0 +1,57 @@
+#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;
+}