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main branch adding odom topic passed to odom smoother #2800

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main branch adding odom topic passed to odom smoother #2800

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2 changes: 2 additions & 0 deletions nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,8 @@ class BtNavigator : public nav2_util::LifecycleNode
std::string robot_frame_;
std::string global_frame_;
double transform_tolerance_;
std::string odom_topic_;


// Spinning transform that can be used by the BT nodes
std::shared_ptr<tf2_ros::Buffer> tf_;
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4 changes: 2 additions & 2 deletions nav2_bt_navigator/src/bt_navigator.cpp
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Expand Up @@ -94,7 +94,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
global_frame_ = get_parameter("global_frame").as_string();
robot_frame_ = get_parameter("robot_base_frame").as_string();
transform_tolerance_ = get_parameter("transform_tolerance").as_double();

odom_topic_ = get_parameter("odom_topic").as_string();
// Libraries to pull plugins (BT Nodes) from
auto plugin_lib_names = get_parameter("plugin_lib_names").as_string_array();

Expand All @@ -120,7 +120,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
}

// Odometry smoother object for getting current speed
odom_smoother_ = std::make_unique<nav2_util::OdomSmoother>(shared_from_this(), 0.3);
odom_smoother_ = std::make_unique<nav2_util::OdomSmoother>(shared_from_this(), 0.3, odom_topic_);

return nav2_util::CallbackReturn::SUCCESS;
}
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