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Configure frame IDs for mavros local_position/odom

asked 2017-02-12 19:20:39 -0600

janindu

849 ●7 ●26 ●19

Hi,

I have a system of 4 UAVs with 4 pixhawks and 4 on-board computers. A ground station is controlling the ROS master. I have a problem managing UAV poses. Mavros publishes local_position/odom with child frame ID 'base_link'. Since I have 4 UAVs operating in the same ROS space, this is a problem.

I looked through the documents but did not see how to set a parameter for child frame ID. Is there such parameter that I have missed? If there isn't then running a node which listens to the topics (topics are namespaced with /uav1, /uav2 etc) and republish to a new topic with new frame IDs (naive, I know) the best way to approach this?

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