Feature Request: Adding a configurable option to mola_bridge_ros2 to enable/disable publishing to tf

[tenvinc]

A feature that I think might be useful, but also quite straightforward to implement, would be a configurable parameter addition to the mola_bridge_ros2. This parameter will enable or disable the publishing of the slam result to the tf tree. For example, one possible use case I can think of is using the result of lidar odometry from mola as part of a larger sensor fusion pipeline external to mola. The result of this sensor fusion pipeline will likely be also be a tf which would directly clash with the tf published by mola_bridge_ros2. Having a parameter would allow the user to decide how to use the result from mola.

This parameter can be a boolean parameter, named "publish_tf_from_slam_en".

[jlblancoc]

Great idea.

It's implemented now.
I also took the opportunity to clarify and document the meaning of all BridgeROS2 parameters:

• MOLAorg/mola_lidar_odometry@fdffa3d
• 3788c30

In the short term I'm also working on state estimation, external to mola_lidar_odometry, but within another MOLA project, so the need for new flags in BridgeROS2 may arise in the process.