<commit_before><?xml version="1.0" encoding="UTF-8"?>
<launch>
	<arg name="initial_pose_in_map_to_base" default="true" />
	<arg name="initial_x" default="0.0" />
	<arg name="initial_y" default="0.0" />
	<arg name="initial_z" default="0.0" />
	<arg name="initial_roll" default="0.0" />
	<arg name="initial_pitch" default="0.0" />
	<arg name="initial_yaw" default="0.0" />
	<arg name="pose_with_covariance_stamped_topic" default="/initialpose" />
	<arg name="pose_stamped_topic" default="" />
	<arg name="odometry_topic" default="" />
	<arg name="poses_filename" default="" />
	<arg name="map_frame_id" default="map" />
	<arg name="odom_frame_id" default="odom" /> <!-- if empty, tfs will be published from [ map_frame_id -> base_link_frame_id ] directly (instead of [ map_frame_id -> odom_frame_id ]) -->
	<arg name="base_link_frame_id" default="base_footprint" />
	<arg name="publish_rate" default="100.0" />
	<arg name="publish_last_pose_tf_timeout_seconds" default="-1.0" />
	<arg name="tf_lookup_timeout" default="0.5" />
	<arg name="invert_tf_transform" default="false" />
	<arg name="invert_tf_hierarchy" default="false" />
	<arg name="transform_pose_to_map_frame_id" default="true" />
	<arg name="parameters_namespace" default="pose_to_tf_publisher" />


	<node pkg="pose_to_tf_publisher" type="pose_to_tf_publisher_node" name="pose_to_tf_publisher_node" ns="$(arg parameters_namespace)" output="screen" >
		<param name="publish_rate" type="double" value="$(arg publish_rate)" />
		<param name="publish_last_pose_tf_timeout_seconds" type="double" value="$(arg publish_last_pose_tf_timeout_seconds)" /> <!-- if < 0 last pose received will be published forever with no timeout (until a new pose is received and updates the current publish pose) -->
		<param name="tf_lookup_timeout" type="double" value="$(arg tf_lookup_timeout)" />
		<param name="pose_with_covariance_stamped_topic" type="str" value="$(arg pose_with_covariance_stamped_topic)" />
		<param name="pose_stamped_topic" type="str" value="$(arg pose_stamped_topic)" />
		<param name="odometry_topic" type="str" value="$(arg odometry_topic)" />
		<param name="poses_filename" type="str" value="$(arg poses_filename)" />
		<param name="map_frame_id" type="str" value="$(arg map_frame_id)" />
		<param name="odom_frame_id" type="str" value="$(arg odom_frame_id)" />
		<param name="base_link_frame_id" type="str" value="$(arg base_link_frame_id)" /><commit_msg>Reduced default publish rate to a more realistic / reasonable value (30 Hz).<commit_after><?xml version="1.0" encoding="UTF-8"?>
<launch>
	<arg name="initial_pose_in_map_to_base" default="true" />
	<arg name="initial_x" default="0.0" />
	<arg name="initial_y" default="0.0" />
	<arg name="initial_z" default="0.0" />
	<arg name="initial_roll" default="0.0" />
	<arg name="initial_pitch" default="0.0" />
	<arg name="initial_yaw" default="0.0" />
	<arg name="pose_with_covariance_stamped_topic" default="/initialpose" />
	<arg name="pose_stamped_topic" default="" />
	<arg name="odometry_topic" default="" />
	<arg name="poses_filename" default="" />
	<arg name="map_frame_id" default="map" />
	<arg name="odom_frame_id" default="odom" /> <!-- if empty, tfs will be published from [ map_frame_id -> base_link_frame_id ] directly (instead of [ map_frame_id -> odom_frame_id ]) -->
	<arg name="base_link_frame_id" default="base_footprint" />
	<arg name="publish_rate" default="30.0" />
	<arg name="publish_last_pose_tf_timeout_seconds" default="-1.0" />
	<arg name="tf_lookup_timeout" default="0.5" />
	<arg name="invert_tf_transform" default="false" />
	<arg name="invert_tf_hierarchy" default="false" />
	<arg name="transform_pose_to_map_frame_id" default="true" />
	<arg name="parameters_namespace" default="pose_to_tf_publisher" />


	<node pkg="pose_to_tf_publisher" type="pose_to_tf_publisher_node" name="pose_to_tf_publisher_node" ns="$(arg parameters_namespace)" output="screen" >
		<param name="publish_rate" type="double" value="$(arg publish_rate)" />
		<param name="publish_last_pose_tf_timeout_seconds" type="double" value="$(arg publish_last_pose_tf_timeout_seconds)" /> <!-- if < 0 last pose received will be published forever with no timeout (until a new pose is received and updates the current publish pose) -->
		<param name="tf_lookup_timeout" type="double" value="$(arg tf_lookup_timeout)" />
		<param name="pose_with_covariance_stamped_topic" type="str" value="$(arg pose_with_covariance_stamped_topic)" />
		<param name="pose_stamped_topic" type="str" value="$(arg pose_stamped_topic)" />
		<param name="odometry_topic" type="str" value="$(arg odometry_topic)" />
		<param name="poses_filename" type="str" value="$(arg poses_filename)" />
		<param name="map_frame_id" type="str" value="$(arg map_frame_id)" />
		<param name="odom_frame_id" type="str" value="$(arg odom_frame_id)" />
		<param name="base_link_frame_id" type="str" value="$(arg base_link_frame_id)" />
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{'dir': 'git-commits-cleaned', 'id': '5544615', 'n_tokens_mistral': 1747, 'n_tokens_neox': 1668, 'n_words': 335}