steering controller library (ackermann steering) does not publish odom TF

[guidout]

Describe the bug
I see the following topics:
/ackermann_steering_controller/controller_state
/ackermann_steering_controller/odometry
/ackermann_steering_controller/reference
/ackermann_steering_controller/tf_odometry
/ackermann_steering_controller/transition_event
but the odom transform is not being published.

Environment:

• OS: Ubuntu 22.04
• Version: Humble

[Corund060]

/ackermann_steering_controller/tf_odometry is odom tf, you can remap it to /tf

[guidout]

I tried that but it doesn't seem to apply. Maybe I have an error in the launch file?
Here is how I'm launching the controller in my launch file:

ackermann_steering_controller_spawner = Node(
       package="controller_manager",
       executable="spawner",
       parameters=[{'use_sim_time': use_sim_time}],
       arguments=["ackermann_steering_controller"],
       remappings=[('ackermann_steering_controller/tf_odometry','tf')],
       condition= IfCondition(LaunchConfiguration('use_ackermann_controller'))
    )

[Corund060]

You are remapping in the wrong place. You have to do it for ros2_control not for the spawner. I did this in model urdf and it worked: <gazebo> <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> <ros> <namespace></namespace> <remapping>ackermann_steering_controller/reference_unstamped:=cmd_vel</remapping> <remapping>ackermann_steering_controller/odometry:=odom</remapping> <remapping>ackermann_steering_controller/tf_odometry:=tf</remapping> </ros> <parameters>your_pkg/config/controller_configuration.yaml</parameters> </plugin> </gazebo>

[guidout]

yes! that worked. Thank you so much.
Now that works for simulation, for the real robot I guess I have to had the remappings in ros2_control node like below, right?

controller_manager = Node(
        package="controller_manager",
        executable="ros2_control_node",
        parameters=[{'robot_description': robot_description},
                    controls_params_file,
                    controls_rear_wheels_params_file,
                    {'use_sim_time': use_sim_time}],
        remappings=[('ackermann_steering_controller/tf_odometry','tf')],
        condition= UnlessCondition(use_sim_time)
    )

[Corund060]

This should work. Haven't tested it myself though.

[christophfroehlich]

Yes this should be fine, see this example here.