Fix: restore static map→odom TF conditioned on slam:=false#666
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griswaldbrooks
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May 26, 2026
When slam:=false (default), odom has no parent in the TF tree because static_tf_map_to_odom was removed unconditionally in PR #596. Restore it behind a not-slam condition so slam_toolbox still owns map→odom when slam:=true. Fixes PickNikRobotics/moveit_pro#19337 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Human (that's me) :
I noticed some odom and map TF errors on hangar_sim start. I needed to have this TF that used to be there conditional on slam being false. I saw that before I added it back the 'navigate to clicked point' failed, and now the 'navigate to clicked point' is working again.
Problem
static_tf_map_to_odomwas removed unconditionally in PR #596 to avoid conflicting with slam_toolbox's dynamicmap → odompublish. Whenslam:=false(the default),odomhas no parent in the TF tree so all navigation objectives fail immediately withCould not find a connection between 'map' and 'odom' because they are not part of the same tree.Fix
Restore
static_tf_map_to_odomconditioned onslam:=false. Whenslam:=true, the static TF is suppressed and slam_toolbox ownsmap → odomdynamically as before.Alternatives considered
mj_world → odomfrom MuJoCo — rejected because it hardcodes an identity and interferes with fuse and localization.Fixes PickNikRobotics/moveit_pro#19337
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