Hi, I am trying to integrate the ZED 2 camera into the Nav2 stack. To do so, I need the ZED 2 wrapper node to publish transforms to a namespaced topic (e.g. /robot/tf and /robot/tf_static instead of /tf and /tf_static) so that Nav2 can chain transforms correctly. How can I achieve this? Thanks in advance!
Hi @apark0115
Please read the Robot Integration guide.
Furthermore, the tf and tf_static topics normally do not have a namespace, even in multi-robot configurations.
This is why the ZED ROS2 Wrapper does not provide a method to add a namespace to them.